The first step of working towards revolve2 1.0.0 is creating a simple evolutionary loop using CI's modular robots. This the goal of release 0.0.0-alpha1. This issue provides a list of requirements for this release.

See branch 0.0.0-alpha1.

• Isaac Gym simulation environment. #6
• Modular robot framework that can be used to create robots for the simulation environment. #7
• An optimization framework for evolutionary processes. #8
• A database system to store results and provide recovery in case of failure. #9 #28
• Successfully run a basic experiment. Do analysis together with a researcher. Create and resolve issues accordingly.
• Analysis tools. #21
• Simulation log #22
• Robot size querying #31

Profile and make a list of performance improvements. Create issues accordingly.

Make controllers work on physical modular robots

Script that lets you control robot using rpi_controller over ssh.
return log, start time, end time.

There appears to be a memory in Isaac Gym when shutting down a simulator. Reusing an isaac runner repeatedly uses an increasing amount of RAM and GPU memory.

The torque limit(effort) in isaac gym does not behave correctly; it is a factor 100 off for the modular robots. Occurs on CPU; maybe does not occur on GPU, untested.

Pyrr does not have typing. Investigate if there is a better alternative(or not)

Automatically install mulitneat as dependency for CPPNWIN
And fix that lib64 issue in multineat too

Make sure DB transactions are reverted when an error is raised.

Robots learn to abuse the physics engine and move forward in nonrealistic ways.

An optimization framework for evolutionary processes.

• Documentation framework
• CI
• Installation
• Tutorials
• API reference

Investigate Cuda crash. Hard to reproduce.

• Morphological traits for modular robots. Implement tool framework and width, height, number of modules, number of bricks, number of active hinges.
• Phenotype visualization. Implement for isaac gym. See it in simulation doing their task.
• Images of robots.

Check if they're necessary

Confirm version match between remote and rpi_controller script on pi.

EA optimizer now stores the genotype of each individual in a generation. If an individual moves to the next generation it is copied; the is no reference. Store individuals seperately from who is in a generation.

Add sort-all or something similar

Provide API to query features robot such as its height, so the user can do things like inserting the robot above the ground instead of with legs in the ground.

Provide an API to do continuous evaluation of a physics system.

• Multiple actors
• Adding removing objects
• Keeping track of objects
• Serializing intermediate state, checkpoints

with black config

Current when rpi_controller stops it leaves gpio in their last pwm state. Shut down the pwm signal instead.

• Proper docstrings
• Improve layout made by sphinx

A database system to store results and provide recovery in case of failure.

Such as Static friction, dynamic friction.

• Add easy scripts to perform mypy checks on the repository.
• Update the repository to conform to mypy
• Provide stubs for used libraries

• Tree based
• L-system

Running this example with a recovery halfway produces different results than running the experiment all at once.

The database rework removed implementation of saving simulation states for this examples. Reimplement this functionality.

• Choose a code style(suggestion: Black)
• Apply code style throughout code base

Figure out how to add friction to the floor, because the robots are currently sliding.

• Add continuous integration(suggestion: github actions)
• Mypy
• Style check

Database rework broke all tutorials and documentation.

Current files database is not good enough. It is too slow and the db interface can be improved.

• Redesign API to allow setting of complete data object at once(json-like objects) isntead of every variable seperately.
• Implement for files (no problem if slow or inefficient)
• Implement fast database. E.g. sqlite or something else

Add simulation history. Sampling at a chosen frequency. Also pass the same history to the fitness function instead of the current hardcoded frequency.

While the database works it is not easy to read from. Maybe introduce a form of type checking when reading from the database instead of the ugly dynamic cast system.

Revolve2 install some scripts but these are not documented.