mrrvis is a visualisation tool for modular reconfigurable robotics (MRR) systems. It provides a simulation environment for MRR systems in discrete lattices, including Square, Hexagonal, Triangular and Cubic lattices. Configurations are stored as graphs, providing convenient means for verifying the connectivity of a shape and verifying the existence of an isomorphism between two graphs, such as in checking that a designed configuration is the same as a predefined target.
- Tools for graph based representations of robotic configurations in discrete lattices
- An interface for modifying a configuration with respect to local collision and global configuration rules
- Graphing tools to visualise configurations or, to visualise the configuration history of an environment
- A means to compare configurations to identify if they are isomorphic to one another
- Tools for defining new moves, and adding custom rules to the environment
- Prebuilt Moves for Square and Hexagonal lattices
- NumPy>=1.21 for matrix representations and scientific computing
- Matplotlib>=3.5 for graphing configurations
install with pip: pip install git+https://github.com/AJPASHA/mrrvis@main
To get started, import the following:
from mrrvis.env import Environment
To create a square environment with the default moves and rules and make an action:
state_0 = [[1,2],[2,2],[2,3],[3,3],[3,2],[3,1]] # a simple configuration
env = Environment(state_0, 'Square') # create env
env.render() # visualise the environment
env.step('slide', 0, 'N') # perform a move
env.render() # visualise the new environment
For more in-depth demonstrations and tutorials, consult the notebooks in the demos folder of the repository
For testing, use pytest:
pytest tests
From the root directory of this repository. These tests cover all core functionality of the library.
This package was created with Cookiecutter and the audreyr/cookiecutter-pypackage project template.