modular_robot_simulation

Everything for the simulation of modular robots.

Package Contents

Classes

ModularRobotScene

A scene of modular robots in a terrain.

ModularRobotSimulationState

The state of a modular robot at some moment in a simulation.

SceneSimulationState

An interface for reading a certain state of a modular robot simulation.

Terrain

Terrain consising of only static geometry.

Functions

simulate_scenes(…)

Simulate one or more scenes.

test_robot(→ None)

Test a robot with a manual brain.
class ModularRobotScene

A scene of modular robots in a terrain.

terrain: modular_robot_simulation._terrain.Terrain

The terrain of the scene.

add_robot(robot: revolve2.modular_robot.ModularRobot, pose: revolve2.simulation.scene.Pose = Pose(), translate_z_aabb: bool = True) → None

Add a robot to the scene.

Parameters:

  • robot – The robot to add.

  • pose – The pose of the robot.

  • translate_z_aabb – Whether the robot should be translated upwards so it’s T-pose axis-aligned bounding box is exactly on the ground. I.e. if the robot should be placed exactly on the ground. The pose parameters is still added afterwards.

add_interactive_object(objt: revolve2.simulation.scene.MultiBodySystem) → None

Add an intractable object to the scene.

Parameters:

objt – The object as a multi body system.

to_simulation_scene() → tuple[revolve2.simulation.scene.Scene, dict[revolve2.simulation.scene.UUIDKey[revolve2.modular_robot.ModularRobot], revolve2.simulation.scene.MultiBodySystem]]

Convert this to a simulation scene.

Returns:

The created scene.

class ModularRobotSimulationState(simulation_state: revolve2.simulation.scene.SimulationState, multi_body_system: revolve2.simulation.scene.MultiBodySystem)

The state of a modular robot at some moment in a simulation.

get_pose() → revolve2.simulation.scene.Pose

Get the pose of the modular robot.

Returns:

The retrieved pose.

abstract get_module_relative_pose(module: revolve2.modular_robot.body.Module) → revolve2.simulation.scene.Pose

Get the pose of a module, relative to its parent module’s reference frame.

In case there is no parent(the core), this is equal to getting the absolute pose.

Parameters:

module – The module to get the pose for.

Returns:

The relative pose.

Raises:

NotImplementedError – Always.

abstract get_module_absolute_pose(module: revolve2.modular_robot.body.Module) → revolve2.simulation.scene.Pose

Get the pose of this module, relative the global reference frame.

Parameters:

module – The module to get the pose for.

Returns:

The absolute pose.

Raises:

NotImplementedError – Always.

class SceneSimulationState(simulation_state: revolve2.simulation.scene.SimulationState, modular_robot_to_multi_body_system_mapping: dict[revolve2.simulation.scene.UUIDKey[revolve2.modular_robot.ModularRobot], revolve2.simulation.scene.MultiBodySystem])

An interface for reading a certain state of a modular robot simulation.

get_modular_robot_simulation_state(modular_robot: revolve2.modular_robot.ModularRobot) → modular_robot_simulation._modular_robot_simulation_state.ModularRobotSimulationState

Get the simulation state for one of the modular robots in the scene.

Parameters:

modular_robot – The modular robot to get the state for.

Returns:

The retrieved state.

Raises:

ValueError – If the robot is not in the scene.

simulate_scenes(simulator: revolve2.simulation.simulator.Simulator, batch_parameters: revolve2.simulation.simulator.BatchParameters, scenes: modular_robot_simulation._modular_robot_scene.ModularRobotScene, record_settings: revolve2.simulation.simulator.RecordSettings | None = None) → list[modular_robot_simulation._scene_simulation_state.SceneSimulationState]
simulate_scenes(simulator: revolve2.simulation.simulator.Simulator, batch_parameters: revolve2.simulation.simulator.BatchParameters, scenes: list[modular_robot_simulation._modular_robot_scene.ModularRobotScene], record_settings: revolve2.simulation.simulator.RecordSettings | None = None) → list[list[modular_robot_simulation._scene_simulation_state.SceneSimulationState]]

Simulate one or more scenes.

Parameters:

  • simulator – The simulator to use for simulation.

  • batch_parameters – The batch parameters to use for simulation.

  • scenes – One or more scenes to simulate.

  • record_settings – The optional record settings to use during simulation.

Returns:

A list of simulation states for each scene in the provided batch.

class Terrain

Terrain consising of only static geometry.

static_geometry: list[revolve2.simulation.scene.geometry.Geometry]

The static geometry that defines the terrain.

test_robot(robot: revolve2.modular_robot.ModularRobot | revolve2.modular_robot.body.base.Body, terrain: modular_robot_simulation._terrain.Terrain, simulator: revolve2.simulation.simulator.Simulator, batch_parameters: revolve2.simulation.simulator.BatchParameters) → None

Test a robot with a manual brain.

Parameters:

  • robot – The ModularRobot or Body instance.

  • terrain – The terrain to test on.

  • simulator – The simulator.

  • batch_parameters – The batch parameters.