168 make revolve2s core library more generic to the general public (#266

)

* Moved around lots of code and created ad removed packages.

* Remove pyyaml depedency of mujoco as it's now included in the python-mujoco-viewer package.

.github/workflows/main.yml

@@ -15,22 +15,26 @@ jobs:
           pip install virtualenv
           virtualenv .venv
           . .venv/bin/activate
+      # Do this in reverse order of the things depending on each other.
+      # Probably gives us the best failure insights.
       - name: install serialization
         run: pip install ./serialization
       - name: install actor_controller
         run: pip install ./actor_controller
+      - name: install simulation
+        run: pip install ./simulation
+      - name: install modular_robot
+        run: pip install ./modular_robot
       - name: install rpi_controller
         run: pip install ./rpi_controller
-      - name: install core
-        run: pip install ./core
-      - name: install standard_resources
-        run: pip install ./standard_resources
-      - name: install runner mujoco
-        run: pip install ./runners/mujoco
-      - name: install genotype CPPNWIN
-        run: |
-          sudo apt install libcereal-dev
-          pip install ./genotypes/cppnwin
+      - name: install rpi_controller_remote
+        run: pip install ./rpi_controller_remote
+      - name: install experimentation
+        run: pip install ./experimentation
+      - name: install simulators/mujoco
+        run: pip install ./simulators/mujoco
+      - name: install ci_group
+        run: pip install ./ci_group
       - name: install examples requirements
         run: |
           pip install -r examples/robot_bodybrain_ea_database/requirements.txt
@@ -75,18 +79,20 @@ jobs:
         run: pip install ./serialization[dev]
       - name: install actor_controller
         run: pip install ./actor_controller[dev]
+      - name: install simulation
+        run: pip install ./simulation[dev]
+      - name: install modular_robot
+        run: pip install ./modular_robot[dev]
       - name: install rpi_controller
         run: pip install ./rpi_controller[dev]
-      - name: install core
-        run: pip install ./core[dev]
-      - name: install standard_resources
-        run: pip install ./standard_resources[dev]
-      - name: install runner mujoco
-        run: pip install ./runners/mujoco[dev]
-      - name: install genotype CPPNWIN
-        run: |
-          sudo apt install libcereal-dev
-          pip install ./genotypes/cppnwin[dev]
+      - name: install rpi_controller_remote
+        run: pip install ./rpi_controller_remote[dev]
+      - name: install experimentation
+        run: pip install ./experimentation[dev]
+      - name: install simulators/mujoco
+        run: pip install ./simulators/mujoco[dev]
+      - name: install ci_group
+        run: pip install ./ci_group[dev]
       - name: install examples requirements
         run: |
           pip install -r examples/robot_bodybrain_ea_database/requirements.txt
@@ -95,7 +101,7 @@ jobs:
       - name: install requirements for mypy
         run: pip install -r ./codetools/mypy/requirements.txt
       - name: run mypy
-        run: ./codetools/mypy/check_opensource.sh
+        run: ./codetools/mypy/check.sh
 
   docs:
     runs-on: ubuntu-20.04
@@ -110,21 +116,23 @@ jobs:
           virtualenv .venv
           . .venv/bin/activate
       - name: install serialization
-        run: pip install ./serialization[dev]
+        run: pip install ./serialization
       - name: install actor_controller
-        run: pip install ./actor_controller[dev]
+        run: pip install ./actor_controller
+      - name: install simulation
+        run: pip install ./simulation
+      - name: install modular_robot
+        run: pip install ./modular_robot
       - name: install rpi_controller
-        run: pip install ./rpi_controller[dev]
-      - name: install core
-        run: pip install ./core[dev]
-      - name: install standard_resources
-        run: pip install ./standard_resources[dev]
-      - name: install runner mujoco
-        run: pip install ./runners/mujoco[dev]
-      - name: install genotype CPPNWIN
-        run: |
-          sudo apt install libcereal-dev
-          pip install ./genotypes/cppnwin[dev]
+        run: pip install ./rpi_controller
+      - name: install rpi_controller_remote
+        run: pip install ./rpi_controller_remote
+      - name: install experimentation
+        run: pip install ./experimentation
+      - name: install simulators/mujoco
+        run: pip install ./simulators/mujoco
+      - name: install ci_group
+        run: pip install ./ci_group
       - name: install requirements for sphinx
         run: pip install -r ./docs/requirements.txt
       - name: sphinx

actor_controller/pyproject.toml

@@ -5,7 +5,7 @@ build-backend = "poetry.core.masonry.api"
 [tool.poetry]
 name = "revolve2-actor-controller"
 version = "0.3.9b1"
-description = "Individual Actor controller for revolve2."
+description = "Revolve2 actor controller interface and implementations."
 authors = ["Aart Stuurman <[email protected]>"]
 repository = "https://github.com/ci-group/revolve2"
 classifiers = [

actor_controller/revolve2/actor_controllers/__init__.py

@@ -0,0 +1 @@
+"""Actor controller implementations."""

ci_group/pyproject.toml

@@ -0,0 +1,28 @@
+[build-system]
+requires = ["poetry-core>=1.6.0"]
+build-backend = "poetry.core.masonry.api"
+
+[tool.poetry]
+name = "revolve2-ci-group"
+version = "0.3.9b1"
+description = "Revolve2 Computational Intelligence Group experimentation tools and standards."
+authors = ["Aart Stuurman <[email protected]>"]
+repository = "https://github.com/ci-group/revolve2"
+classifiers = [
+    "Development Status :: 4 - Beta",
+    "Typing :: Typed",
+    "Topic :: Scientific/Engineering",
+    "Programming Language :: Python :: 3",
+]
+packages = [{ include = "revolve2" }]
+
+[tool.poetry.dependencies]
+python = "^3.10"
+revolve2-simulation = { path = "../simulation", develop = true }
+revolve2-modular-robot = { path = "../modular_robot", develop = true }
+noise = "^1.2.2"
+numpy = "^1.21.2"
+pyrr = "^0.10.3"
+
+[tool.poetry.extras]
+dev = []

standard_resources/revolve2/standard_resources/fitness_functions.py → ci_group/revolve2/ci_group/fitness_functions.py

@@ -2,7 +2,7 @@
 
 import math
 
-from revolve2.core.modular_robot import BodyState
+from revolve2.modular_robot import BodyState
 
 
 def xy_displacement(begin_state: BodyState, end_state: BodyState) -> float:

standard_resources/revolve2/standard_resources/modular_robots.py → ci_group/revolve2/ci_group/modular_robots.py

@@ -1,6 +1,6 @@
 """Standard modular robots."""
 import numpy as np
-from revolve2.core.modular_robot import ActiveHinge, Body, Brick
+from revolve2.modular_robot import ActiveHinge, Body, Brick
 
 
 def all() -> list[Body]:

standard_resources/revolve2/standard_resources/simulation.py → ci_group/revolve2/ci_group/simulation.py

@@ -1,11 +1,11 @@
 """Standard simulation functions and parameters."""
-from revolve2.core.modular_robot import (
+from revolve2.modular_robot import (
     ModularRobot,
     create_batch_multiple_isolated_robots,
     create_batch_single_robot,
 )
-from revolve2.core.physics import Terrain
-from revolve2.core.physics.running import Batch
+from revolve2.simulation import Terrain
+from revolve2.simulation.running import Batch
 
 STANDARD_SIMULATION_TIME = 30
 STANDARD_SAMPLING_FREQUENCY = 0.0001

standard_resources/revolve2/standard_resources/terrains.py → ci_group/revolve2/ci_group/terrains.py

@@ -6,8 +6,8 @@
 import numpy.typing as npt
 from noise import pnoise2
 from pyrr import Quaternion, Vector3
-from revolve2.core.physics import Terrain
-from revolve2.core.physics.running import geometry
+from revolve2.simulation import Terrain
+from revolve2.simulation.running import geometry
 
 
 def flat(size: Vector3 = Vector3([20.0, 20.0, 0.0])) -> Terrain:

core/run_mypy.sh → ci_group/run_mypy.sh

@@ -1,5 +1,5 @@
 #!/bin/sh
 
 cd "$(dirname "$0")"
-echo "core:"
+echo "ci_group:"
 mypy -p revolve2

codetools/black/check.sh

@@ -2,4 +2,4 @@
 
 cd "$(dirname "$0")"
 
-black --diff --check ../../actor_controller/revolve2 ../../core/revolve2 ../../examples ../../genotypes/cppnwin/revolve2 ../../rpi_controller/revolve2 ../../runners/mujoco/revolve2 ../../serialization/revolve2 ../../standard_resources/revolve2
+black --diff --check ../../actor_controller/revolve2 ../../ci_group/revolve2 ../../examples ../../experimentation/revolve2 ../../modular_robot/revolve2 ../../rpi_controller/revolve2 ../../rpi_controller_remote/revolve2 ../../serialization/revolve2 ../../simulation/revolve2 ../../simulators/mujoco/revolve2

codetools/black/fix.sh

@@ -2,4 +2,4 @@
 
 cd "$(dirname "$0")"
 
-black ../../actor_controller/revolve2 ../../core/revolve2 ../../examples ../../genotypes/cppnwin/revolve2 ../../rpi_controller/revolve2 ../../runners/mujoco/revolve2 ../../serialization/revolve2 ../../standard_resources/revolve2
+black ../../actor_controller/revolve2 ../../ci_group/revolve2 ../../examples ../../experimentation/revolve2 ../../modular_robot/revolve2 ../../rpi_controller/revolve2 ../../rpi_controller_remote/revolve2 ../../serialization/revolve2 ../../simulation/revolve2 ../../simulators/mujoco/revolve2

codetools/darglint/check.sh

@@ -2,4 +2,4 @@
 
 cd "$(dirname "$0")"
 
-darglint -s sphinx ../../actor_controller/revolve2 ../../core/revolve2 ../../examples ../../genotypes/cppnwin/revolve2 ../../rpi_controller/revolve2 ../../runners/mujoco/revolve2 ../../serialization/revolve2 ../../standard_resources/revolve2
+darglint -s sphinx ../../actor_controller/revolve2 ../../ci_group/revolve2 ../../examples ../../experimentation/revolve2 ../../modular_robot/revolve2 ../../rpi_controller/revolve2 ../../rpi_controller_remote/revolve2 ../../serialization/revolve2 ../../simulation/revolve2 ../../simulators/mujoco/revolve2

codetools/fix_all.sh

@@ -7,7 +7,7 @@ cd "$(dirname "$0")"
 echo "--------------"
 echo "mypy"
 echo "--------------"
-./mypy/check_all.sh
+./mypy/check.sh
 
 echo "--------------"
 echo "pyflakes"

codetools/isort/check.sh

@@ -2,4 +2,4 @@
 
 cd "$(dirname "$0")"
 
-isort --check-only --diff --profile black ../../actor_controller/revolve2 ../../core/revolve2 ../../examples ../../genotypes/cppnwin/revolve2 ../../rpi_controller/revolve2 ../../runners/mujoco/revolve2 ../../serialization/revolve2 ../../standard_resources/revolve2
+isort --check-only --diff --profile black ../../actor_controller/revolve2 ../../ci_group/revolve2 ../../examples ../../experimentation/revolve2 ../../modular_robot/revolve2 ../../rpi_controller/revolve2 ../../rpi_controller_remote/revolve2 ../../serialization/revolve2 ../../simulation/revolve2 ../../simulators/mujoco/revolve2

codetools/isort/fix.sh

@@ -2,4 +2,4 @@
 
 cd "$(dirname "$0")"
 
-isort --profile black ../../actor_controller/revolve2 ../../core/revolve2 ../../examples ../../genotypes/cppnwin/revolve2 ../../rpi_controller/revolve2 ../../runners/mujoco/revolve2 ../../serialization/revolve2 ../../standard_resources/revolve2
+isort --profile black ../../actor_controller/revolve2 ../../ci_group/revolve2 ../../examples ../../experimentation/revolve2 ../../modular_robot/revolve2 ../../rpi_controller/revolve2 ../../rpi_controller_remote/revolve2 ../../serialization/revolve2 ../../simulation/revolve2 ../../simulators/mujoco/revolve2

codetools/mypy/check.sh

@@ -0,0 +1,16 @@
+#!/bin/sh
+
+set -e
+
+cd "$(dirname "$0")"
+
+../../actor_controller/run_mypy.sh
+../../ci_group/run_mypy.sh
+../../examples/run_mypy.sh
+../../experimentation/run_mypy.sh
+../../modular_robot/run_mypy.sh
+../../rpi_controller/run_mypy.sh
+../../rpi_controller_remote/run_mypy.sh
+../../serialization/run_mypy.sh
+../../simulation/run_mypy.sh
+../../simulators/mujoco/run_mypy.sh

codetools/pydocstyle/check.sh

@@ -2,4 +2,4 @@
 
 cd "$(dirname "$0")"
 
-pydocstyle ../../actor_controller/revolve2 ../../core/revolve2 ../../examples ../../genotypes/cppnwin/revolve2 ../../rpi_controller/revolve2 ../../runners/mujoco/revolve2 ../../serialization/revolve2 ../../standard_resources/revolve2
+pydocstyle ../../actor_controller/revolve2 ../../ci_group/revolve2 ../../examples ../../experimentation/revolve2 ../../modular_robot/revolve2 ../../rpi_controller/revolve2 ../../rpi_controller_remote/revolve2 ../../serialization/revolve2 ../../simulation/revolve2 ../../simulators/mujoco/revolve2

codetools/pyflakes/check.sh

@@ -2,4 +2,4 @@
 
 cd "$(dirname "$0")"
 
-pyflakes ../../actor_controller/revolve2 ../../core/revolve2 ../../examples ../../genotypes/cppnwin/revolve2 ../../rpi_controller/revolve2 ../../runners/mujoco/revolve2 ../../serialization/revolve2 ../../standard_resources/revolve2
+pyflakes ../../actor_controller/revolve2 ../../ci_group/revolve2 ../../examples ../../experimentation/revolve2 ../../modular_robot/revolve2 ../../rpi_controller/revolve2 ../../rpi_controller_remote/revolve2 ../../serialization/revolve2 ../../simulation/revolve2 ../../simulators/mujoco/revolve2

codetools/sort_all/fix.sh

@@ -1,5 +1,5 @@
 #!/bin/sh
 
 cd "$(dirname "$0")"
-dirs="../../actor_controller/revolve2 ../../core/revolve2 ../../examples ../../genotypes/cppnwin/revolve2 ../../rpi_controller/revolve2 ../../runners/mujoco/revolve2 ../../serialization/revolve2 ../../standard_resources/revolve2"
+dirs="../../actor_controller/revolve2 ../../ci_group/revolve2 ../../examples ../../experimentation/revolve2 ../../modular_robot/revolve2 ../../rpi_controller/revolve2 ../../rpi_controller_remote/revolve2 ../../serialization/revolve2 ../../simulation/revolve2 ../../simulators/mujoco/revolve2"
 find $dirs -type f -name '__init__.py' -print0 | xargs -0 sort-all

dev_requirements.sh

@@ -5,11 +5,13 @@
 
 cd "$(dirname "$0")"
 
-pip install -e ./runners/mujoco[dev] && \
-pip install -e ./genotypes/cppnwin[dev] && \
-pip install -e ./standard_resources[dev] && \
-pip install -e ./core[dev] && \
+pip install -e ./ci_group[dev] && \
+pip install -e ./simulators/mujoco[dev] && \
+pip install -e ./experimentation[dev] && \
+pip install -e ./rpi_controller_remote[dev] && \
 pip install -e ./rpi_controller[dev] && \
+pip install -e ./modular_robot[dev] && \
+pip install -e ./simulation[dev] && \
 pip install -e ./actor_controller[dev] && \
 pip install -e ./serialization[dev] && \
 pip install -r ./codetools/requirements.txt

docs/Makefile

@@ -17,13 +17,15 @@ help:
 	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
 
 apidoc:
-	@$(SPHINXAPIDOC) ../core/revolve2 $(APIDOCARGS)
-	@$(SPHINXAPIDOC) ../genotypes/cppnwin/revolve2 $(APIDOCARGS)
-	@$(SPHINXAPIDOC) ../runners/mujoco/revolve2 $(APIDOCARGS)
-	@$(SPHINXAPIDOC) ../serialization/revolve2 $(APIDOCARGS)
 	@$(SPHINXAPIDOC) ../actor_controller/revolve2 $(APIDOCARGS)
+	@$(SPHINXAPIDOC) ../ci_group/revolve2 $(APIDOCARGS)
+	@$(SPHINXAPIDOC) ../experimentation/revolve2 $(APIDOCARGS)
+	@$(SPHINXAPIDOC) ../modular_robot/revolve2 $(APIDOCARGS)
 	@$(SPHINXAPIDOC) ../rpi_controller/revolve2 $(APIDOCARGS)
-	@$(SPHINXAPIDOC) ../standard_resources/revolve2 $(APIDOCARGS)
+	@$(SPHINXAPIDOC) ../rpi_controller_remote/revolve2 $(APIDOCARGS)
+	@$(SPHINXAPIDOC) ../serialization/revolve2 $(APIDOCARGS)
+	@$(SPHINXAPIDOC) ../simulation/revolve2 $(APIDOCARGS)
+	@$(SPHINXAPIDOC) ../simulators/mujoco/revolve2 $(APIDOCARGS)
 
 apidoc_overwrite:
 	APIDOCARGS="$(APIDOCARGS) -f" $(MAKE) apidoc

docs/source/api_reference/revolve2.actor_controllers.rst

@@ -1,7 +1,10 @@
-revolve2.actor\_controllers namespace
-=====================================
+revolve2.actor\_controllers package
+===================================
 
-.. py:module:: revolve2.actor_controllers
+.. automodule:: revolve2.actor_controllers
+   :members:
+   :undoc-members:
+   :show-inheritance:
 
 Subpackages
 -----------

docs/source/api_reference/revolve2.standard_resources.terrains.rst → docs/source/api_reference/revolve2.ci_group.fitness_functions.rst

@@ -1,7 +1,7 @@
-revolve2.standard\_resources.terrains module
+revolve2.ci\_group.fitness\_functions module
 ============================================
 
-.. automodule:: revolve2.standard_resources.terrains
+.. automodule:: revolve2.ci_group.fitness_functions
    :members:
    :undoc-members:
    :show-inheritance:

docs/source/api_reference/revolve2.ci_group.logging.rst

@@ -0,0 +1,7 @@
+revolve2.ci\_group.logging module
+=================================
+
+.. automodule:: revolve2.ci_group.logging
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/api_reference/revolve2.ci_group.modular_robots.rst

@@ -0,0 +1,7 @@
+revolve2.ci\_group.modular\_robots module
+=========================================
+
+.. automodule:: revolve2.ci_group.modular_robots
+   :members:
+   :undoc-members:
+   :show-inheritance: