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Welcome to the Tensoft wiki!

Here is described how to install the Tensoft library, build its components, launch EA experiments and use the visualization and the measurement scripts provided.

The Tensoft library consists of two main parts: a simulation framework developed in C++ and named Tensoft, which is based on the Nasa Tensegrity Robot Toolkit and manages the simulation of Tensegrity Soft Modular Robots (TSMR) (it provides also scripts for collecting interesting data); a Python component that includes scripts for running evolutionary algorithms, visualize the results obtained and compute statistics on them.

It is important to notice that the actual implementation of NTRT employed in Tensoft is the one reported here; it is a slightly modified version that use an improved building system and updated libraries.

Wiki Sections:

• Installation
• EAs Execution
• Robot Simulation
• Data Visualization
• Measurements