EvoSim

A steppable soft-body simulator which can be initialized from an EvoWorld instance.

Quicklinks:   EvoWorld,   EvoSim,   EvoViewer,   WorldObject,   envs.EvoGymBase,   helper functions and metadata

Page Outline

1. class EvoSim
   1. method __init__
   2. method get_actuator_indices
   3. method get_dim_action_space
   4. method get_time
   5. method object_orientation_at_time
   6. method object_pos_at_time
   7. method object_vel_at_time
   8. method pos_at_time
   9. method reset
   10. method set_action
   11. method step
   12. method vel_at_time

class EvoSim

Create, step, reset, and get data from an Evolution Gym simulation.

Args:

• world (EvoWorld): object containing world voxel specification.

method __init__

__init__(world: EvoWorld) → None

method get_actuator_indices

get_actuator_indices(robot_name: str) → ndarray

Returns the voxel indices a target robot’s actuators in the simulation.

Args:

• robot_name (str): name of robot.

Returns:

• np.ndarray: (n,) array of actuator indices, where n is the number of actuators.

method get_dim_action_space

get_dim_action_space(robot_name: str) → int

Returns the number of actuators for a target robot in the simulation.

Args:

• robot_name (str): name of robot.

Returns:

• int: number of actuators.

method get_time

get_time() → int

Returns the current time as defined in the simulator. Time starts at 0 and is incremented each time the simulator steps. Time resets to 0 when the simulator is reset.

Returns:

• int: the current time.

method object_orientation_at_time

object_orientation_at_time(time: int, object_name: str) → float

Returns an estimate of the orientation of an object at time time. Use EvoSim.get_time() to get current measurements.

Args:

• time (int): time at which to return measurement.
• object_name (str): name of object

Returns:

• float: orientation with respect to x-axis in radians (increasing counter-clockwise) from the range [0, 2π].

method object_pos_at_time

object_pos_at_time(time: int, object_name: str) → ndarray

Returns positions of all point-masses in a target object at time time. Use EvoSim.get_time() to get current measurements.

Args:

• time (int): time at which to return measurements.
• object_name (str): name of object

Returns:

• np.ndarray: (2, n) array of measurements, where n is the number of point-masses in the target object.

method object_vel_at_time

object_vel_at_time(time: int, object_name: str) → ndarray

Returns velocities of all point-masses in a target object at time time. Use EvoSim.get_time() to get current measurements.

Args:

• time (int): time at which to return measurements.
• object_name (str): name of object

Returns:

• np.ndarray: (2, n) array of measurements, where n is the number of point-masses in the target object.

method pos_at_time

pos_at_time(time: int) → ndarray

Returns positions of all point-masses in the simulation at time time. Use EvoSim.get_time() to get current measurements.

Args:

• time (int): time at which to return measurements.

Returns:

• np.ndarray: (2, n) array of measurements, where n is the number of points in the simulation.

method reset

reset() → None

Reset the simulation to time 0.

method set_action

set_action(robot_name: str, action: ndarray) → None

Set an action for a target robot. This function updates the robot’s actuator targets, but will not step the simulation.

Args:

• robot_name (str): name of robot
• action (np.ndarray): (n,) array of actions, where n is the number of actuators of the target robot.

method step

step() → None

Step the simulation.

method vel_at_time

vel_at_time(time: int) → ndarray

Returns velocities of all point-masses in the simulation at time time. Use EvoSim.get_time() to get current measurements.

Args:

• time (int): time at which to return measurements.

Returns:

• np.ndarray: (2, n) array of measurements, where n is the number of points in the simulation.

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