add hardware test

examples/gymnax/pendulum.py

@@ -37,3 +37,4 @@ if __name__ == '__main__':
     state = pipeline.setup()
     pipeline.pre_compile(state)
     state, best = pipeline.auto_run(state)
+

exp_for_hardwares.py

@@ -0,0 +1,53 @@
+import time
+
+import jax.numpy as jnp
+from config import *
+from pipeline_jitable_env import Pipeline
+from algorithm import NEAT
+from algorithm.neat.gene import NormalGene, NormalGeneConfig
+from problem.rl_env import GymNaxConfig, GymNaxEnv
+
+
+def conf_with_seed(seed):
+    return Config(
+        basic=BasicConfig(
+            seed=seed,
+            fitness_target=501,
+            pop_size=10000,
+            generation_limit=100
+        ),
+        neat=NeatConfig(
+            inputs=4,
+            outputs=1,
+            max_species=10000
+        ),
+        gene=NormalGeneConfig(
+            activation_default=Act.sigmoid,
+            activation_options=(Act.sigmoid,),
+        ),
+        problem=GymNaxConfig(
+            env_name='CartPole-v1',
+            output_transform=lambda out: jnp.where(out[0] > 0.5, 1, 0)  # the action of cartpole is {0, 1}
+        )
+    )
+
+
+if __name__ == '__main__':
+
+    times = []
+
+    for seed in range(10):
+        conf = conf_with_seed(seed)
+        algorithm = NEAT(conf, NormalGene)
+        pipeline = Pipeline(conf, algorithm, GymNaxEnv)
+        state = pipeline.setup()
+        pipeline.pre_compile(state)
+        tic = time.time()
+        state, best = pipeline.auto_run(state)
+        time_cost = time.time() - tic
+        times.append(time_cost)
+        print(times)
+
+    print(f"total_times: {times}")
+
+