This is a program that rearranges cuboid robots using the Melt, Sort, Grow algorithm laid out in: Planning for Heterogeneous Self-Reconfiguring Robots. It is written exclusively in python and uses the MORSE simulator to demonstrate.

• Morse Simulator
• Blender v2.79>=
• Python 3.5 or the same python version used to build blender
• Linux OS

These requirements are based around the requirements of MORSE.

This guide assumes that you have MORSE setup with blender 2.79. To install the cube modules:

morse import modules

Then to etablish the simulation

morse run modules line.py

To run the self-configuration run

python3.5 main.py

Modules can be designated with different colours and types. The modules are then loaded into [spacecraft] class which stores connections, position, rotation, type and more. This class can be passed a goal structure and will rearrange the modules to this structure.