A selection of best-performing designs generated with RoboGrammar for four different terrains.

CMake >= 3.8

• Ubuntu: The version available through apt-get is probably outdated, install from the link above

GLEW

• Ubuntu: sudo apt-get install libglew-dev

Python 3.6 + headers

If you are on an older version of Ubuntu, you may need to add the "deadsnakes" PPA first:

sudo add-apt-repository ppa:deadsnakes/ppa
sudo apt-get update

• Ubuntu: sudo apt-get install python3.6 python3.6-dev

git clone [email protected]:allanzhao/robot_design.git

cd robot_design

git submodule update --init

mkdir build; cd build

cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo -DPYTHON_EXECUTABLE=/path/to/python3.6 .. (replace /path/to/python3.6 as appropriate)

make -j4 (replace 4 with the number of CPU cores available)

Using a virtualenv is recommended.

Add the robot_design/build/examples/python_bindings and the robot_design/examples/design_search directories to your PYTHONPATH environment variable, and make sure you are in the robot_design directory.

virtualenv -p python3.6 venv

source venv/bin/activate

pip3 install numpy numpy-quaternion

Make sure you are in the build directory created earlier.

View an example robot design: examples/viewer/Viewer ../data/designs/insect.dot 0 1 1 1 2 2 2 3 3 3 5 5 5 4 4 4 -r

Optimize and view a trajectory for the example robot: examples/viewer/Viewer ../data/designs/insect.dot 0 1 1 1 2 2 2 3 3 3 5 5 5 4 4 4 -o -r

View a rule from the grammar: examples/rule_viewer/RuleViewer ../data/designs/insect.dot 0 rhs -r (views the right-hand side of rule 0)

Make sure you are in the robot_design directory and the virtualenv is active (source venv/bin/activate).

Optimize and view a trajectory for the example robot: python3 examples/design_search/viewer.py FlatTerrainTask data/designs/grammar_jan21.dot -j16 0, 6, 20, 12, 2, 7, 18, 20, 10, 4, 20, 10, 11, 5, 10, 4, 10, 5, 19, 5 -o