EvoWorld

Specifies the initial state of any voxels & objects that make up an EvoGym environment.

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

Page Outline

1. class EvoWorld
   1. method __init__
   2. method add_from_array
   3. method add_from_json
   4. method add_object
   5. classmethod from_json
   6. method move_object
   7. method pretty_print
   8. method remove_object
   9. method translate_object

class EvoWorld

Specify the layout of an Evolution Gym environment.

method __init__

__init__() → None

method add_from_array

add_from_array(
    name: 'str',
    structure: 'ndarray',
    x: 'int',
    y: 'int',
    connections: 'Optional[ndarray]' = None
) → None

Add a single object to the world from array.

Args:

• name (str): object name.
• structure (np.ndarray): (n, m) array specifing the voxel structure of the object. See evogym.VOXEL_TYPES.
• x (int): x-position of the bottom & leftmost voxel of the object. Starts at 0.
• y (int): y-position of the bottom & leftmost voxel of the object. Starts at 0.
• connections (Optional[np.ndarray]): (2, k) array specifying k pairwise voxel connections. Voxels are specified by their index into the 1D array np.flatten(structure). The default behavior assumes all adjacent voxels are connected. (default = None)

method add_from_json

add_from_json(file_path: 'str') → None

Add objects to an existing EvoWorld object from a .json environment specification file. These can be created using the EvoGym Design Tool.

Args:

• file_path (str): path to file. Ex: my_env.json.

method add_object

add_object(obj: 'WorldObject') → None

Add a single object to the world.

Args:

• obj (WorldObject): object to add.

classmethod from_json

from_json(file_path: 'str') → EvoWorld

Create an EvoWorld object from a .json environment specification file (these can be created using the EvoGym Design Tool) and return it.

Args:

• file_path (str): path to file. Ex: my_env.json.

Returns:

• EvoWorld: resulting EvoWorld object.

method move_object

move_object(obj_name: 'str', x: 'int', y: 'int') → None

Move an object in world by name.

Args:

• obj_name (str): object name.
• x (int): x-position of the bottom & leftmost voxel of the object. Starts at 0.
• y (int): y-position of the bottom & leftmost voxel of the object. Starts at 0.

method pretty_print

pretty_print(voxels_per_line: 'int' = 50) → None

Print world to console for debugging. Voxels are specified by (R)igid, (S)oft, (H)orizontal Actuator, (V)ertical Actuator, (F)ixed.

Args:

• voxels_per_line (int): Number of voxels to print per line – reduce for smaller screens. (default = 50)

method remove_object

remove_object(obj_name: 'str') → WorldObject

Remove an object from world by name and return it.

Args:

• obj_name (str): object name.

Returns:

• WorldObject: removed, returned object.

method translate_object

translate_object(obj_name: 'str', dx: 'int', dy: 'int') → None

Translate an object in world by name.

Args:

• obj_name (str): object name.
• dx (int): change in x-position.
• dy (int): change in y-position.

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