phyelds-webots
Webots integration for phyelds: run aggregate programs on the robots of a Webots simulation.
Installation
Install it in the Python that Webots runs the controllers with (Python 3.12 or later):
pip install phyelds-webots
The controller module comes with Webots.
Usage
Give each robot an Emitter, a Receiver and, for the position sensor, a GPS; the range
of the emitter decides who the neighbors are. Then, in the controller:
from controller import Robot
from phyelds.calculus import aggregate
from phyelds.libraries.device import sense
from phyelds.libraries.distances import hops_distance
from phyelds.libraries.spreading import distance_to
from phyelds.webots import AggregateController
@aggregate
def hops_to_source():
return distance_to(sense("source"), hops_distance())
robot = Robot()
aggregate_controller = AggregateController(
robot, hops_to_source, gps="gps", sensors=lambda: {"source": robot.getName() == "source"}
)
while robot.step(int(robot.getBasicTimeStep())) != -1:
hops = aggregate_controller.run_round() # one round per step
See the documentation.
1 maintainer
Metadata
1 maintainer
Release files for phyelds-webots 8.8.2
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Total release size: 6.1 kB
Release files / phyelds_webots-8.8.2.tar.gz
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