Update parameter measurements for modular parts, use V4 Github Actions (#591)

* added an example to analyze part parameters and their effect on the modular robot

* updated brick and core v2 parameters

* updated active hinge frame mass

* fix GitHub Actions: Update artifacts to v4

* artifacts now save with platform dependant names to avoid conflicts

* switched runner to latest Mac version hoping to reduce queue time

Author: andresgr96

.github/workflows/main.yml

@@ -144,17 +144,22 @@ jobs:
           python-version: 3.11
       - name: Build wheels
         run: pip wheel --no-deps ./${{ matrix.package }} -w ./dist/${{ matrix.package }}
-      - uses: actions/upload-artifact@v3
+      - name: Generate artifact name
+        shell: bash
+        run: |
+          SAFE_PACKAGE=$(echo "${{ matrix.package }}" | sed 's/\//-/g')
+          echo "ARTIFACT_NAME=dist-${SAFE_PACKAGE}-${{ github.run_id }}" >> $GITHUB_ENV
+      - uses: actions/upload-artifact@v4
         with:
-          name: dist
+          name: ${{ env.ARTIFACT_NAME }}
           path: ./dist/**/*.whl
 
   build_wheels_platform_dependent:
     needs: read-project-info
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        os: [windows-2022, ubuntu-22.04, macos-12]
+        os: [windows-2022, ubuntu-22.04, macos-latest]
         package: ${{ fromJson(needs.read-project-info.outputs.platform_dependent_packages) }}
     steps:
       - uses: actions/checkout@v4
@@ -170,9 +175,14 @@ jobs:
           CIBW_ARCHS_WINDOWS: AMD64
           CIBW_ARCHS_MACOS: universal2
           CIBW_ARCHS_LINUX: x86_64
-      - uses: actions/upload-artifact@v3
+      - name: Generate artifact name
+        shell: bash
+        run: |
+          SAFE_PACKAGE=$(echo "${{ matrix.package }}" | sed 's/\//-/g')
+          echo "ARTIFACT_NAME=dist-${SAFE_PACKAGE}-${{ matrix.os }}-${{ github.run_id }}" >> $GITHUB_ENV
+      - uses: actions/upload-artifact@v4
         with:
-          name: dist
+          name: ${{ env.ARTIFACT_NAME }}
           path: ./dist/**/*.whl
 
   publish:
@@ -188,10 +198,11 @@ jobs:
       id-token: write
     steps:
       - name: Download dist artifact
-        uses: actions/download-artifact@v3
+        uses: actions/download-artifact@v4
         with:
-          name: dist
+          pattern: dist-*
           path: dist
+          merge-multiple: true
       - name: Generate name for package
         # Prepend 'revolve2-', replace '/' with '-' and remove '/simulators'
         run: echo "PACKAGE_URL=https://pypi.org/p/revolve2-$(echo ${{ matrix.package }} | sed 's/_/-/g' | sed 's/simulators\///g')" >> $GITHUB_ENV

examples/2_modular_robot_basics/2c_custom_parts/README.md

@@ -0,0 +1,6 @@
+This example shows you how to create vustom versions of the modular robot elements.
+
+You learn:
+- Where are parts defined and what parameters can be changed.
+- How to implement custom versions of the parts to analyze the effect of different parameters.
+- Using the test_robot function to test robots with manual/dummy brains.

examples/2_modular_robot_basics/2c_custom_parts/main.py

@@ -0,0 +1,123 @@
+"""Main script for the example."""
+
+from pyrr import Vector3
+
+from revolve2.experimentation.logging import setup_logging
+from revolve2.modular_robot import ModularRobot
+from revolve2.modular_robot.body import RightAngles
+from revolve2.modular_robot.body.v2 import ActiveHingeV2, BodyV2, BrickV2, CoreV2
+from revolve2.modular_robot.brain.dummy import BrainDummy
+from revolve2.modular_robot_simulation import test_robot
+from revolve2.simulators.mujoco_simulator import LocalSimulator
+from revolve2.standards import terrains
+from revolve2.standards.simulation_parameters import make_standard_batch_parameters
+
+""" Below we create a custom version of the ActiveHingeV2. 
+    By pressing shift+right click on the ActiveHingeV2 class in the IDE you can see where it is defined.
+    Changing the parameters there will change it for all instances of ActiveHingeV2, which is not what we want.
+    Therefore we create a custom version of the ActiveHingeV2 and change the parameters there."""
+
+
+class CustomActiveHingeV2(ActiveHingeV2):
+    """Custom ActiveHinge for parameter testing."""
+
+    def __init__(self, rotation: float | RightAngles):
+        """Initialize with custom parameters.
+
+        :param rotation: The Modules rotation.
+
+        """
+        super().__init__(rotation=rotation)
+        # Modify parameters here to experiment
+        self._frame_bounding_box = Vector3([0.036, 0.104, 0.033])  # Double size
+        self._servo1_bounding_box = Vector3([0.1025, 0.1024, 0.040])  # Double size
+        self._servo2_bounding_box = Vector3([0.004, 0.104, 0.104])  # Double size
+
+
+class CustomBrickV2(BrickV2):
+    """Custom Brick for parameter testing."""
+
+    def __init__(self, rotation: float | RightAngles):
+        """Initialize with custom parameters.
+
+        :param rotation: The Modules rotation.
+
+        """
+        super().__init__(rotation=rotation)
+        # Modify parameters here to experiment
+        self._mass = 0.100  # Double mass
+        self._bounding_box = Vector3([0.130, 0.130, 0.130])  # Double size
+
+
+class CustomCoreV2(CoreV2):
+    """Custom Core for parameter testing."""
+
+    def __init__(self, rotation: float | RightAngles):
+        """Initialize with custom parameters.
+
+        :param rotation: The Modules rotation.
+
+        """
+        super().__init__(rotation=rotation)
+        # Modify parameters here to experiment
+        self._mass = 0.200  # Double mass
+        self._bounding_box = Vector3([0.130, 0.130, 0.130])  # Double size
+
+
+def make_visualization_body() -> BodyV2:
+    """
+    Create a body with all components for visualization.
+
+    :returns: The created body.
+    """
+    body = BodyV2()
+
+    # Attach components in different configurations to visualize all parts
+    hinge_left = CustomActiveHingeV2(RightAngles.DEG_0)
+    body.core_v2.front_face.bottom = hinge_left
+    hinge_left.attachment = CustomBrickV2(RightAngles.DEG_0)
+
+    # Add a chain of components to see how they connect
+    hinge = CustomActiveHingeV2(RightAngles.DEG_0)
+    body.core_v2.back_face.bottom = hinge
+    hinge.attachment = CustomBrickV2(RightAngles.DEG_0)
+
+    return body
+
+
+def main() -> None:
+    """Run the visualization."""
+    setup_logging()
+
+    body = make_visualization_body()
+
+    # Create dummy brain (no movement) for better visualization
+    brain = BrainDummy()
+    robot = ModularRobot(body, brain)
+
+    # Set up simulator with custom viewer for better visualization
+    simulator = LocalSimulator(
+        viewer_type="custom",
+        headless=False,
+    )
+
+    # Configure sim params
+    batch_parameters = make_standard_batch_parameters()
+    batch_parameters.simulation_time = (
+        10  # Short sim time since we just want to view it
+    )
+    batch_parameters.simulation_timestep = (
+        0.005  # Smaller timestep for smoother visualization
+    )
+
+    # Test the robot using the test_robot utility
+    test_robot(
+        robot=robot,
+        terrain=terrains.flat(),
+        simulator=simulator,
+        batch_parameters=batch_parameters,
+    )
+
+
+if __name__ == "__main__":
+    main()

examples/2_modular_robot_basics/2c_custom_parts/requirements.txt

@@ -10,6 +10,7 @@ readme = "../README.md"
 authors = [
     "Aart Stuurman <aartstuurman@hotmail.com>",
     "Oliver Weissl <o.weissl@vu.nl>",
+    "Andres Garcia <a.a.garciarincon@student.vu.nl>"
 ]
 repository = "https://github.com/ci-group/revolve2"
 classifiers = [

modular_robot/pyproject.toml

@@ -27,7 +27,7 @@ def __init__(self, rotation: float | RightAngles):
             frame_offset=0.04495,
             servo1_bounding_box=Vector3([0.05125, 0.0512, 0.020]),
             servo2_bounding_box=Vector3([0.002, 0.052, 0.052]),
-            frame_mass=0.01632,
+            frame_mass=0.01144,
             servo1_mass=0.058,
             servo2_mass=0.025,
             servo_offset=0.0239,

modular_robot/revolve2/modular_robot/body/v2/_active_hinge_v2.py

@@ -17,7 +17,7 @@ def __init__(self, rotation: float | RightAngles):
         super().__init__(
             rotation=rotation,
             bounding_box=Vector3([w, h, d]),
-            mass=0.06043,
+            mass=0.05864,
             child_offset=d / 2.0,
             sensors=[],
         )

modular_robot/revolve2/modular_robot/body/v2/_brick_v2.py

@@ -10,8 +10,8 @@
 class CoreV2(Core):
     """The core module of a modular robot."""
 
-    _BATTERY_MASS = 0.39712  # in kg
-    _FRAME_MASS = 1.0644  # in kg
+    _BATTERY_MASS = 0.39201  # in kg
+    _FRAME_MASS = 0.9783  # in kg
 
     _horizontal_offset = 0.029  # The horizontal offset for attachment positions (in m).
     _vertical_offset = 0.032  # The vertical offset for attachment positions (in m).

modular_robot/revolve2/modular_robot/body/v2/_core_v2.py

@@ -14,6 +14,7 @@ examples:
   - 1_simulator_basics/1b_custom_terrain
   - 2_modular_robot_basics/2a_custom_brain
   - 2_modular_robot_basics/2b_brain_with_feedback
+  - 2_modular_robot_basics/2c_custom_parts
   - 3_experiment_foundations/3a_experiment_setup
   - 3_experiment_foundations/3b_evaluate_single_robot
   - 3_experiment_foundations/3c_evaluate_multiple_isolated_robots

project.yml

@@ -11,6 +11,7 @@ authors = [
     "Aart Stuurman <aartstuurman@hotmail.com>",
     "Oliver Weissl <o.weissl@vu.nl>",
     "Kevin Godin-Dubois <k.j.m.godin-dubois@vu.nl>",
+    "Andres Garcia <a.a.garciarincon@student.vu.nl>"
 ]
 repository = "https://github.com/ci-group/revolve2"
 classifiers = [

simulators/mujoco_simulator/pyproject.toml

@@ -15,6 +15,7 @@ readme = "../README.md"
 authors = [
     "Aart Stuurman <aartstuurman@hotmail.com>",
     "Oliver Weissl <o.weissl@vu.nl>",
+    "Andres Garcia <a.a.garciarincon@student.vu.nl>"
 ]
 repository = "https://github.com/ci-group/revolve2"
 classifiers = [