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|Type||Name||Latest commit message||Commit time|
|Failed to load latest commit information.|
|_voxcad||Oct 11, 2019|
|data_analysis||Oct 11, 2019|
|exp||Oct 11, 2019|
|tools||Jan 11, 2020|
|.gitignore||Oct 11, 2019|
|README.md||Oct 3, 2019|
|__init__.py||Oct 3, 2019|
|base.py||Oct 3, 2019|
|networks.py||Oct 3, 2019|
|softbot.py||Oct 3, 2019|
The first step is to install Anaconda as your python 2.7 distribution on a linux machine.
But revert Anaconda's networkx <2.0.
pip install networkx==1.11
Install Qt and QMake, specifically these packages: "libqt4-dev", "qt4-qmake", "libqwt-dev", "freeglut3-dev" and "zlib1g-dev".
sudo apt-get install libqt4-dev qt4-qmake libqwt-dev freeglut3-dev zlib1g-dev
sudo apt-get install git
Navigate to the working directory (e.g., your home).
Clone the repo.
git clone https://github.com/skriegman/reconfigurable_organisms.git
Navigate to the _voxcad directory.
Compile both VoxCad (GUI) and Voxelyze (physics engine).
If you happen to modify VoxCad or Voxelyze in the future, call the same script to clean and recompile everything.
Install the voxelyze library.
cd Voxelyze make make installusr cd ../voxelyzeMain/ make
Navigate to the exp folder and run one of the .py experiments (detailed in the paper), which require two input args (seed and runtime), both of which can be set to 1 for now.
cd ../exp PYTHONPATH=$HOME/reconfigurable_organisms/ $HOME/anaconda/bin/python Locomotion_pass2.py 1 1
This creates a directory (~/reconfigurable_organisms/run_1) to hold the results.
Output should appear in the console.
After the experiment runs for a few generations, the current shape/controller adaptation can be seen by opening one of the generated .vxa files within the VoxCAD GUI. A .vxa file is just an XML file representing a robot that can be simulated by VoxCad/Voxelyze.
Navigate to reconfigurable_organisms/_voxcad/release.
Then select the desired .vxa file from:
"File -> Import -> Simulation"
The .vxa files for the best performing individuals will be saved in:
This will cause the robot not to move, disappear, or just behave strangely when running a .vxa file in VoxCad.
To fix this issue, open the locale settings.
sudo gedit /etc/default/locale
Set LC_NUMERIC to en_US.UTF-8.
Save, close the file, and reboot.
Voxelyze documentation is available here.