def get_body_spec(conf):
"""
:param conf:
:return:
:rtype: BodyImplementation
"""
parts = {
"Core": PartSpec(
body_part=CoreComponent,
arity=4,
inputs=0 if conf.disable_sensors else 6,
params=color_params
),
"FixedBrick": PartSpec(
body_part=FixedBrick,
arity=4,
params=color_params
),
"ActiveHinge": PartSpec(
body_part=ActiveHinge,
arity=2,
outputs=1,
params=color_params
),
"Hinge": PartSpec(
body_part=Hinge,
arity=2,
params=color_params
),
"ParametricBarJoint": PartSpec(
body_part=ParametricBarJoint,
arity=2,
params=[ParamSpec(
"connection_length",
default=50,
min_value=20,
max_value=100,
epsilon=conf.body_mutation_epsilon
), ParamSpec(
"alpha",
default=0,
min_value=-0.5 * math.pi,
max_value=0.5 * math.pi,
epsilon=conf.body_mutation_epsilon
), ParamSpec(
"beta",
default=0,
min_value=0,
max_value=0 if conf.enforce_planarity else math.pi,
epsilon=conf.body_mutation_epsilon
)] + color_params
),
# "Wheel": PartSpec(
# body_part=Wheel,
# arity=1,
# params=color_params + [
# ParamSpec("radius", min_value=40, max_value=80, default=60, epsilon=conf.mutation_epsilon)
# ]
# ),
# "ActiveWheel": PartSpec(
# body_part=ActiveWheel,
# arity=1,
# outputs=1,
# params=color_params + [
# ParamSpec("radius", min_value=40, max_value=80, default=60, epsilon=conf.mutation_epsilon)
# ]
# ),
# "Cardan": PartSpec(
# body_part=Cardan,
# arity=2,
# params=color_params
# ),
# "ActiveCardan": PartSpec(
# body_part=ActiveCardan,
# arity=2,
# outputs=2,
# params=color_params
# ),
# "ActiveRotator": PartSpec(
# body_part=ActiveRotator,
# arity=2,
# outputs=1,
# params=color_params
# ),
# "ActiveWheg": PartSpec(
# body_part=ActiveWheg,
# arity=2,
# outputs=1,
# params=color_params + [
# ParamSpec("radius", min_value=40, max_value=80, default=60, epsilon=conf.body_mutation_epsilon)
# ]
# )
}
if not conf.disable_sensors:
if conf.enable_touch_sensor:
parts['TouchSensor'] = PartSpec(
body_part=TouchSensor,
arity=1,
inputs=2,
params=color_params
)
if conf.enable_light_sensor:
parts['LightSensor'] = PartSpec(
body_part=LightSensor,
arity=1,
inputs=1,
params=color_params
)
return BodyImplementation(parts)
type: Oscillator
phaseOffset: 10
Sub2-out-0:
type: Oscillator
connections:
- src: Sub1-out-1
dst: Sub1-out-1
weight: 2
- src: Sub2-in-1
dst: Sub1-out-1
'''
# the body and brain specifications
body_spec = BodyImplementation({
("CoreComponent", "E"):
PartSpec(arity=2, outputs=1, inputs=2),
"2Params":
PartSpec(arity=2,
inputs=2,
outputs=2,
params=[
ParamSpec("param_a", default=-1),
ParamSpec("param_b", default=15)
])
})
brain_spec = NeuralNetImplementation({
"Simple":
NeuronSpec(params=["bias"]),
"Oscillator":
NeuronSpec(params=["period", "phaseOffset", "amplitude"])
from revolve.spec import BodyImplementation, \
BodyPart, \
NeuralNetImplementation, \
NeuronSpec, \
ParamSpec, \
PartSpec, \
Robot, \
RobotSpecificationException as SpecError, \
RobotValidator
# Imaginary specification for the tests
body_spec = BodyImplementation({
("CoreComponent", "E"):
PartSpec(
arity=2,
outputs=1,
inputs=2,
),
"2Params":
PartSpec(arity=2,
inputs=2,
outputs=2,
params=[
ParamSpec("param_a",
default=-1,
min_value=-2,
max_value=0,
max_inclusive=False),
ParamSpec("param_b", default=15),
]),
})
type: Oscillator
phaseOffset: 10
Sub2-out-0:
type: Oscillator
connections:
- src: Sub1-out-1
dst: Sub1-out-1
weight: 2
- src: Sub2-in-1
dst: Sub1-out-1
'''
# the body and brain specifications
body_spec = BodyImplementation({
("CoreComponent", "E"): PartSpec(
arity=2,
outputs=1,
inputs=2,
),
"2Params" : PartSpec(
arity=2,
inputs=2,
outputs=2,
params=[
ParamSpec(
"param_a",
default=-1
),
ParamSpec(
"param_b",
default=15
),
return self.attachment
def get_slot_position(self, slot_id):
"""
Modify `get_slot_position` to return the attachment of the
motor instead.
:param slot_id:
:return:
"""
v = super(Wheel, self).get_slot_position(slot_id)
return v + Vector3(0, 0, self.MOTOR_SIZE)
body_spec = BodyImplementation({
("Core", "C"):
PartSpec(body_part=Core, arity=6, inputs=6, params=color_params),
("Wheel", "W"):
PartSpec(
body_part=Wheel,
arity=1,
outputs=1,
# Add color parameters to this part
params=color_params),
"Hinge":
PartSpec(body_part=PassiveHinge,
arity=2,
params=color_params +
[ParamSpec("length", min_value=0.1, max_value=1, default=0.5)])
})
import random
import unittest
from revolve.generate import BodyGenerator
from revolve.spec import BodyImplementation, \
NormalDistParamSpec, \
ParamSpec, \
PartSpec
# Some imaginary body specification
body_spec = BodyImplementation(
{
"Core" : PartSpec(
arity=2,
outputs=2,
inputs=2
),
"2Params" : PartSpec(
arity=2,
inputs=2,
outputs=2,
params=[ParamSpec("param_a", default=-1, min_value=-2,
max_value=0, max_inclusive=False),
NormalDistParamSpec("param_b", mean=15, stddev=5,
default=15)]
),
"SomePart": PartSpec(arity=1, inputs=3, outputs=3)
}
)