Skip to main content

Revolve2: Functionality to define scenes with modular robots in a terrain and simulate them.

Project description

Revolve2

Revolve2 is a collection of Python packages used for researching evolutionary algorithms and modular robotics. Its primary features are a modular robot framework, an abstraction layer around physics simulators, and evolutionary algorithms.

Documentation: ci-group.github.io/revolve2

Installation: ci-group.github.io/revolve2/installation

Get help: github.com/ci-group/revolve2/discussions/categories/ask-for-help

DOI License: LGPL v3 CI

Sample

Here we create and simulate a modular robot, and then calculate how far it moved over the xy plane. This is a shortened version of examples/evaluate_single_robot.

# (...) Omitted preamble

# Create a modular robot.
body = modular_robots_v1.gecko_v1()
brain = BrainCpgNetworkNeighborRandom(body=body, rng=rng)
robot = ModularRobot(body, brain)

# Create a scene.
scene = ModularRobotScene(terrain=terrains.flat())
scene.add_robot(robot)

# Create a simulator.
simulator = LocalSimulator(headless=False)

# Simulate the scene and obtain states sampled during the simulation.
scene_states = simulate_scenes(
    simulator=simulator,
    batch_parameters=make_standard_batch_parameters(),
    scenes=scene,
)

# Get the state at the beginning and end of the simulation.
scene_state_begin = scene_states[0]
scene_state_end = scene_states[-1]

# Retrieve the states of the modular robot.
robot_state_begin = scene_state_begin.get_modular_robot_simulation_state(robot)
robot_state_end = scene_state_end.get_modular_robot_simulation_state(robot)

# Calculate the xy displacement of the robot.
xy_displacement = fitness_functions.xy_displacement(
    robot_state_begin, robot_state_end
)

Project details


Download files

Download the file for your platform. If you're not sure which to choose, learn more about installing packages.

Source Distributions

No source distribution files available for this release.See tutorial on generating distribution archives.

Built Distribution

File details

Details for the file revolve2_modular_robot_simulation-1.2.2-py3-none-any.whl.

File metadata

File hashes

Hashes for revolve2_modular_robot_simulation-1.2.2-py3-none-any.whl
Algorithm Hash digest
SHA256 3dc89488a20d11c57151953b4b9ec5f05026daabbc0e0c9533bc93dd600bf392
MD5 8d26f378f48e336bd262ff692d23b556
BLAKE2b-256 3d6a3d9ec0c73dca1104d99d77f89d9da8c40b3383924d3378b90177f3750ba7

See more details on using hashes here.

Supported by

AWS AWS Cloud computing and Security Sponsor Datadog Datadog Monitoring Fastly Fastly CDN Google Google Download Analytics Microsoft Microsoft PSF Sponsor Pingdom Pingdom Monitoring Sentry Sentry Error logging StatusPage StatusPage Status page