PyArm

Copyright (c) 2010,2015 Jeremie DECOCK (http://www.jdhp.org)

• Web site: http://www.jdhp.org/projects_en.html#pyarm
• Online documentation: http://pyarm.readthedocs.org
• Source code: https://github.com/jeremiedecock/pyarm
• Issue tracker: https://github.com/jeremiedecock/pyarm/issues
• PyArm on PyPI: https://pypi.python.org/pypi/pyarm

Description

Pyarm is a physics simulator which provides an anthropomorphic arm model for experiments on human like motor control.

The arm model is described in the following technical report (written in French): http://download.tuxfamily.org/jdhp/pdf/pyarm.pdf .

Pyarm has been used at the Institute for Intelligent Systems and Robotics for experiments on adaptive systems. These experiments are described in the following academic paper Learning cost-efficient control policies with XCSF: generalization capabilities and further improvement by Didier Marin, Jérémie Decock, Lionel Rigoux and Olivier Sigaud. This scientific contribution has been published in the Proceedings of the 13th annual conference on Genetic and evolutionary computation (GECCO'11), the main international conference on genetic and evolutionary computation.

This paper can be downloaded on www.jdhp.org.

Dependencies

• Python >= 2.5
• Numpy
• Matplotlib >= 0.98.1

Note:

If you use pip to install PyArm, Numpy and Matplotlib will be automatically downloaded and installed (see the following install section).

Installation

Gnu/Linux

You can install, upgrade, uninstall PyArm with these commands (in a terminal):

pip install --pre pyarm
pip install --upgrade pyarm
pip uninstall pyarm

Or, if you have downloaded the PyArm source code:

python3 setup.py install

Windows

You can install, upgrade, uninstall PyArm with these commands (in a `command prompt`_):

py -m pip install --pre pyarm
py -m pip install --upgrade pyarm
py -m pip uninstall pyarm

Or, if you have downloaded the PyArm source code:

py setup.py install

MacOSX

You can install, upgrade, uninstall PyArm with these commands (in a terminal):

pip install --pre pyarm
pip install --upgrade pyarm
pip uninstall pyarm

Or, if you have downloaded the PyArm source code:

python3 setup.py install

Documentation

• Online Documentation: http://pyarm.readthedocs.org
• API Documentation: http://pyarm.readthedocs.org/en/latest/api.html

Run pyarm

To run Pyarm, simply type in a terminal:

pyarm

Usage example

Use the following command to run simulations with graphs and logs using the Mitrovic muscle model described in the technical report and a sigmoid controler:

pyarm -f -l -m mitrovic -d 0.005 -A sigmoid

The following command run a simulation with the sagittal arm model and the kambara muscle model using a sigmoid controller:

pyarm -a sagittal -m kambara -d 0.005 -A sigmoid

Help

A comprehensive list of available options is printed with the following command:

pyarm -h

Bug reports

To search for bugs or report them, please use the PyArm Bug Tracker at:

https://github.com/jeremiedecock/pyarm/issues

License

The PyArm library is provided under the terms and conditions of the MIT License.