2D-VSR-Sim is a Java framework for experimenting with a 2-D version of the voxel-based soft robots (VSRs) [1].
If you use this software, please cite one or both of the following papers:
- Medvet, Bartoli, De Lorenzo, Seriani. "2D-VSR-Sim: a Simulation Tool for the Optimization of 2-D Voxel-based Soft Robots", SoftwareX, 12:100573, 2020
@article{medvet20202d,
title = {{2D-VSR-Sim: A simulation tool for the optimization of 2-D voxel-based soft robots}},
author={Medvet, Eric and Bartoli, Alberto and De Lorenzo, Andrea and Seriani, Stefano},
journal = {{SoftwareX}},
volume = {12},
year = {2020},
doi = {https://doi.org/10.1016/j.softx.2020.100573},
}- Medvet, Bartoli, De Lorenzo, Seriani. "Design, Validation, and Case Studies of 2D-VSR-Sim, an Optimization-friendly Simulator of 2-D Voxel-based Soft Robots", arXiv cs.RO: 2001.08617, 2020
@article{medvet2020design,
title = {{Design, Validation, and Case Studies of 2D-VSR-Sim, an Optimization-friendly Simulator of 2-D Voxel-based Soft Robots}},
author = {Medvet, Eric and Bartoli, Alberto and De Lorenzo, Andrea and Seriani, Stefano},
journal = {{arXiv preprint arXiv:2001.08617}},
year = {2020}
}VSRs are composed of many simple soft blocks (called voxels) that can change their volumes: the way voxels are assembled defines the body of the VSR, whereas the law according to which voxels change their volume over the time defines the brain of the VSR. Design of VSRs body and brain can be automatized by means of optimization techniques.
2D-VSR-Sim is an optimization-friendly VSR simulator that focuses on two key steps of optimization: what to optimize and towards which goal. It offers a consistent interface to the different components (e.g., body, brain, sensors, specific mechanisms for control signal propagation) of a VSR which are suitable for optimization and to the task the VSR is requested to perform (e.g., locomotion, grasping of moving objects). 2D-VSR-Sim is not a software for doing the actual optimization. As a consequence, it leaves users (i.e., researchers and practitioners) great freedom on how to optimize: different techniques, e.g., evolutionary computation or reinforcement learning, can be used.
All the details of the model can be found in [2]. In brief, a voxel is a soft 2-D block, i.e., a deformable square modeled with four rigid bodies (square masses), a number of spring-damper systems that constitute a scaffolding, and a number of ropes. A VSR is modeled as a collection of voxels organized in a 2-D grid, each voxel in the grid being rigidly connected with the voxel above, below, on the left, and on the right. The way a VSR behaves is determined by a controller that may exploit the readings of a number of sensors that each voxel may be equipped with. Most of the properties of the VSR model are configurable by the user. 2D-VSR-Sim exploits an existing physics engine, dyn4j, for solving the mechanical model defined by a VSR subjected to the forces caused by the actuation determined by its controller and by the interaction with other bodies (typically, the ground).
A graphical representation of a moving VSR:
2D-VSR-Sim is meant to be used within or together with another software that performs the actual optimization.
This software is organized as a Java package containing the classes and the interfaces that represent the VSR model and related concepts.
The voxel is represented by the Voxel class and its parameters, together with its sensors, can be specified using the Voxel.Description class. The VSR is represented by the Robot class; a description of a VSR, that can be used for building a VSR accordingly, is represented by the Robot.Description class.
A controller is represented by the interface Controller, a functional interface that takes ad input the sensor readings and gives as outputs the control values (one for each voxel).
A task, i.e., some activity whose degree of accomplishment can be evaluated quantitatively according to one or more indexes, is described by the interface Task.
2D-VSR-Sim provides a mechanism for keeping track of an ongoing simulation based on the observer pattern. A SnapshotListener interface represents the observer that is notified of progresses in the simulation, each in the form of a Snapshot: the latter is an immutable representation of the state of all the objects (e.g., positions of voxels, values of their sensor readings) in the simulation at a given time. There are two listeners implementing this interface:
GridOnlineViewerrenders a visualization of the simulated world within a GUI;GridFileWriterproduces a video file.
Both can process multiple simulations together, organized in a grid. The possibility of visualizing many simulations together can be useful, for example, for comparing different stages of an optimization.
The GUI for GridOnlineViewer:
On top of the GUI, a set of UI controls allows the user to customize the visualization with immediate effect. Sensor readings can be visualized as well as voxels SDSs and masses.
A brief fragment of code using for setting up a VSR, testing it in the task of locomotion and saving an image with a few frames of the resulting behavior. This VSR is composed of voxel of two different materials that are actuated with a periodic sinusoidal signal whose phase changes along the x-direction of the robot.
final Locomotion locomotion = new Locomotion(
20,
Locomotion.createTerrain("flat"),
Lists.newArrayList(
Locomotion.Metric.TRAVEL_X_VELOCITY,
Locomotion.Metric.RELATIVE_CONTROL_POWER
),
new Settings()
);
final ControllableVoxel hardMaterialVoxel = new ControllableVoxel(
Voxel.SIDE_LENGTH,
Voxel.MASS_SIDE_LENGTH_RATIO,
50d,
Voxel.SPRING_D,
Voxel.MASS_LINEAR_DAMPING,
Voxel.MASS_ANGULAR_DAMPING,
Voxel.FRICTION,
Voxel.RESTITUTION,
Voxel.MASS,
Voxel.LIMIT_CONTRACTION_FLAG,
Voxel.MASS_COLLISION_FLAG,
Voxel.AREA_RATIO_MAX_DELTA,
Voxel.SPRING_SCAFFOLDINGS,
ControllableVoxel.MAX_FORCE,
ControllableVoxel.ForceMethod.DISTANCE
);
final ControllableVoxel softMaterialVoxel = new ControllableVoxel(
Voxel.SIDE_LENGTH,
Voxel.MASS_SIDE_LENGTH_RATIO,
5d,
Voxel.SPRING_D,
Voxel.MASS_LINEAR_DAMPING,
Voxel.MASS_ANGULAR_DAMPING,
Voxel.FRICTION,
Voxel.RESTITUTION,
Voxel.MASS,
Voxel.LIMIT_CONTRACTION_FLAG,
Voxel.MASS_COLLISION_FLAG,
Voxel.AREA_RATIO_MAX_DELTA,
EnumSet.of(Voxel.SpringScaffolding.SIDE_EXTERNAL, Voxel.SpringScaffolding.CENTRAL_CROSS),
ControllableVoxel.MAX_FORCE,
ControllableVoxel.ForceMethod.DISTANCE
);
int w = 20;
int h = 5;
Robot robot = new Robot(
new TimeFunctions(Grid.create(
w, h,
(x, y) -> (Double t) -> Math.sin(-2 * Math.PI * t + Math.PI * ((double) x / (double) w))
)),
Grid.create(
w, h,
(x, y) -> (y == 0) ? SerializationUtils.clone(hardMaterialVoxel) : SerializationUtils.clone(softMaterialVoxel)
)
);
FramesFileWriter framesFileWriter = new FramesFileWriter(
5, 5.5, 0.1, 300, 200, FramesFileWriter.Direction.HORIZONTAL,
new File(pathToFile),
Executors.newFixedThreadPool(Runtime.getRuntime().availableProcessors())
);
List<Double> result = locomotion.apply(robot, framesFileWriter);
framesFileWriter.flush();
System.out.println("Outcome: " + result);This piece of code shows a method for assessing a VSR whose voxels are actuated with a sinusoidal signal with different phases given the vector of phases. This method might be the one being called by an external optimization software. In this example, the VSR is a 10x4 worm that is assessed on locomotion on a flat terrain: the single objective is the traveled distance.
public static double assessOnLocomotion(double[] phases) {
// set robot shape and sensors
Grid<ControllableVoxel> voxels = Grid.create(10, 4, (x, y) -> new ControllableVoxel());
// set controller
double f = 1d;
Controller<ControllableVoxel> controller = new TimeFunctions(Grid.create(
voxels.getW(),
voxels.getH(),
(x, y) -> (t) -> Math.sin(-2 * Math.PI * f * t + Math.PI * phases[(x + (int) Math.floor(y / voxels.getH()))]))
));
Robot<ControllableVoxel> robot = new Robot<>(controller, voxels);
// set task
Settings settings = new Settings();
settings.setStepFrequency(1d / 30d);
Locomotion locomotion = new Locomotion(
60,
Locomotion.createTerrain("flat"),
Lists.newArrayList(Locomotion.Metric.TRAVEL_X_VELOCITY),
settings
);
// do task
List<Double> results = locomotion.apply(robot);
return results.get(0);
}This example is similar to the one above, but here the controller of the robot is a neural network whose wights are subjected to optimization. Here the robot is a 7x4 biped with a 7x2 trunk and two 2x2 legs. The voxels have different sensors dependin on their position:
- "feet" have touch sensors (whose signal is averaged in a 1 second time window)
- "spine", i.e., the top-row of trunk have velocity (along the 2-axes) and average velocity sensors
- the remaining voxels have an area ratio sensor
public static double assessOnLocomotion(double[] weights) {
// set robot shape and sensors
final Grid<Boolean> structure = Grid.create(7, 4, (x, y) -> (x < 2) || (x >= 5) || (y > 0));
Grid<SensingVoxel> voxels = Grid.create(structure.getW(), structure.getH(), (x, y) -> {
if (structure.get(x, y)) {
if (y > 2) {
return new SensingVoxel(Arrays.asList(
new Velocity(true, 3d, Velocity.Axis.X, Velocity.Axis.Y),
new Average(new Velocity(true, 3d, Velocity.Axis.X, Velocity.Axis.Y), 1d)
));
}
if (y == 0) {
return new SensingVoxel(Arrays.asList(
new Average(new Touch(), 1d)
));
}
return new SensingVoxel(Arrays.asList(
new AreaRatio()
));
}
return null;
});
// set controller
CentralizedSensing<SensingVoxel> controller = new CentralizedSensing<>(SerializationUtils.clone(voxels));
MultiLayerPerceptron mlp = new MultiLayerPerceptron(
MultiLayerPerceptron.ActivationFunction.TANH,
centralizedSensing.nOfInputs(),
new int[0],
centralizedSensing.nOfOutputs()
);
double[] ws = mlp.getParams();
IntStream.range(0, ws.length).forEach(i -> ws[i] = random.nextGaussian());
mlp.setParams(ws);
centralizedSensing.setFunction(mlp);
// build robot
Robot<SensingVoxel> robot = new Robot(controller, voxels);
// set task
Settings settings = new Settings();
settings.setStepFrequency(1d / 30d);
Locomotion locomotion = new Locomotion(
60,
Locomotion.createTerrain("flat"),
Lists.newArrayList(Locomotion.Metric.TRAVEL_X_VELOCITY),
settings
);
// do task
List<Double> results = locomotion.apply(robot);
return results.get(0);
}- Hiller, Lipson. "Automatic design and manufacture of soft robots." IEEE Transactions on Robotics 28.2 (2011): 457-466
- Medvet, Bartoli, De Lorenzo, Seriani. "Design, Validation, and Case Studies of 2D-VSR-Sim, an Optimization-friendly Simulator of 2-D Voxel-based Soft Robots" arXiv cs.RO: 2001.08617