Development into master

docs/source/physical_robot_core_setup/index.rst

@@ -39,7 +39,8 @@ On the RPi adjust the config in `/boot/config.txt` or on newer systems `/boot/fi
 ------------------
 Setting up the RPi
 ------------------
-**Note**: For students in the CI Group, the RPi is already set up. All RPis are flashed with the same image, so the following steps are not necessary. Additionally, there should be an IP address on the head, allowing you to SSH into it. However, be aware that there will always be ongoing development changes in the revolve2-modular-robot_physical and revolve2-robohat packages, so make sure to pip install the latest version in your virtual environment.
+**Note**: For students in the CI Group, the RPi is already set up. If the heads are labeled as `flashed`, it means they are already flashed with the setup image, so the following steps are unnecessary. Additionally, the flashed heads are already connected to the *ThymioNet* Wi-Fi. However, the IP address on the head changes from time to time, so you should use the serial connection to log in and obtain the correct IP address. For instructions on how to establish a serial connection, please refer to the section below.
+Also, note that ongoing development changes will continue in revolve2-modular-robot_physical and revolve2-robohat packages, so make sure to pip install the latest version in your virtual environment.
 
 This step is the same for all types of hardware.
 
@@ -108,8 +109,8 @@ Setting up Revolve2 on the robot requires different steps, depending on the hard
     * V1: :code:`pip install "revolve2-modular_robot_physical[botv1] @ git+https://github.com/ci-group/revolve2.git@<revolve_version>#subdirectory=modular_robot_physical"`.
     * V2: :code:`pip install "revolve2-modular_robot_physical[botv2] @ git+https://github.com/ci-group/revolve2.git@<revolve_version>#subdirectory=modular_robot_physical"`.
 
-    For example, if you want to install the version tagged as 1.2.2, the command would be:
-    :code:`pip install "revolve2-modular_robot_physical[botv2] @ git+https://github.com/ci-group/[email protected].2#subdirectory=modular_robot_physical"`
+    For example, if you want to install the version tagged as 1.2.3, the command would be:
+    :code:`pip install "revolve2-modular_robot_physical[botv2] @ git+https://github.com/ci-group/[email protected].3#subdirectory=modular_robot_physical"`
 
 #. Set up the Revolve2 physical robot daemon:
     #. Create a systemd service file: :code:`sudo nano /etc/systemd/system/robot-daemon.service`
@@ -135,6 +136,7 @@ Setting up Revolve2 on the robot requires different steps, depending on the hard
     #. Here, the :code:`Nice=-10` line sets a high priority for the daemon (lower values are higher priority, with -20 being the highest priority). The :code:`-l` option in the :code:`ExecStart` line tells :code:`robot-daemon` to only listen on the localhost interface. The :code:`-n localhost` option ensures that robot-daemon only runs if it can connect to localhost (preventing certain failure cases).
     #. Enable and start the service: :code:`sudo systemctl daemon-reload` & :code:`sudo systemctl enable robot-daemon` & :code:`sudo systemctl start robot-daemon`.
     #. Check if it is running properly using: :code:`sudo systemctl status robot-daemon`
+    #. If it's not running properly, check the logs using: :code:`journalctl -u robot-daemon -e`
 
 ^^^^^^^^^^^^^^^^^^^
 V1 Additional Steps

examples/5_physical_modular_robots/5a_physical_robot_remote/main.py

@@ -43,7 +43,7 @@ def make_body() -> (
         body.core_v2.right_face.bottom,
         body.core_v2.right_face.bottom.attachment,
     )
-    """Add a camera sensor to the core."""
+    """Here we add a camera sensor to the core. If you don't have a physical camera attached, uncomment this line."""
     body.core.add_sensor(
         CameraSensor(position=Vector3([0, 0, 0]), camera_size=(480, 640))
     )

experimentation/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "poetry.core.masonry.api"
 
 [tool.poetry]
 name = "revolve2-experimentation"
-version = "1.2.2"
+version = "1.2.3"
 description = "Revolve2: Tools for experimentation."
 readme = "../README.md"
 authors = [

modular_robot/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "poetry.core.masonry.api"
 
 [tool.poetry]
 name = "revolve2-modular-robot"
-version = "1.2.2"
+version = "1.2.3"
 description = "Revolve2: Everything for defining modular robots."
 readme = "../README.md"
 authors = [

modular_robot_physical/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "poetry.core.masonry.api"
 
 [tool.poetry]
 name = "revolve2-modular-robot-physical"
-version = "1.2.2"
+version = "1.2.3"
 description = "Revolve2: Everything for physical modular robot control. This package is intended to be installed on the modular robot hardware."
 readme = "../README.md"
 authors = [
@@ -27,12 +27,12 @@ packages = [{ include = "revolve2" }]
 
 [tool.poetry.dependencies]
 python = "^3.10,<3.12"
-revolve2-modular-robot = "1.2.2"
+revolve2-modular-robot = "1.2.3"
 pyrr = "^0.10.3"
 typed-argparse = "^0.3.1"
 pycapnp = { version = "^2.0.0b2" }
 pigpio = { version = "^1.78", optional = true }
-revolve2-robohat = { version = "0.6.2", optional = true }
+revolve2-robohat = { version = "0.6.3", optional = true }
 rpi-lgpio = { version = "0.5", optional = true  }
 opencv-python = "^4.10.0.84"
 # cpnp-stub-generator is disabled because it depends on pycapnp <2.0.0.

modular_robot_physical/revolve2/modular_robot_physical/physical_interfaces/_physical_interface.py

@@ -1,5 +1,5 @@
 from abc import ABC, abstractmethod
-from typing import Sequence
+from typing import Optional, Sequence
 
 import numpy as np
 from numpy.typing import NDArray
@@ -79,7 +79,7 @@ def get_imu_specific_force(self) -> Vector3:
         """
 
     @abstractmethod
-    def get_camera_view(self) -> NDArray[np.uint8]:
+    def get_camera_view(self) -> Optional[NDArray[np.uint8]]:
         """
         Get the current view from the camera.
 

modular_robot_physical/revolve2/modular_robot_physical/physical_interfaces/v2/_v2_physical_interface.py

@@ -1,5 +1,5 @@
 import math
-from typing import Sequence
+from typing import Optional, Sequence
 
 import numpy as np
 from numpy.typing import NDArray
@@ -178,11 +178,18 @@ def get_imu_specific_force(self) -> Vector3:
             raise RuntimeError("Could not get IMU acceleration reading!")
         return Vector3(accel)
 
-    def get_camera_view(self) -> NDArray[np.uint8]:
+    def get_camera_view(self) -> Optional[NDArray[np.uint8]]:
         """
         Get the current view from the camera.
 
         :returns: An image captured from robohatlib.
         """
-        image = self.cam.get_capture_array().astype(np.uint8)
-        return image
+        try:
+            image = self.cam.get_capture_array()
+            if image is None:
+                print("No image captured (camera may not be available).")
+                return None
+            return image.astype(np.uint8)
+        except RuntimeError as e:
+            print(f"Runtime error encountered: {e}")
+            return None

modular_robot_physical/revolve2/modular_robot_physical/remote/_remote.py

@@ -321,10 +321,17 @@ def _get_camera_sensor_state(
     :param camera_sensor: The sensor in question.
     :param sensor_readings: The sensor readings.
     :return: The Sensor state.
+    :raises RuntimeError: If the camera image is empty.
     """
     if camera_sensor is None:
         return {}
     else:
+        image = sensor_readings.cameraView
+        if len(image.r) == 0 and len(image.g) == 0 and len(image.b) == 0:
+            raise RuntimeError(
+                "Camera image is empty. Are you sure you have attached a camera? "
+                "If you don't want to get the camera state, don't add it to the body."
+            )
         return {
             UUIDKey(camera_sensor): CameraSensorStateImpl(
                 _capnp_to_camera_view(
@@ -343,10 +350,16 @@ def _display_camera_view(
 
     :param camera_sensor: The sensor in question.
     :param sensor_readings: The sensor readings.
+    :raises RuntimeError: If the camera image is empty.
     """
     if camera_sensor is None:
-        print("No camera sensor found.")
+        raise RuntimeError(
+            "Can't display camera because there is no camera added in the body"
+        )
     else:
+        image = sensor_readings.cameraView
+        if len(image.r) == 0 and len(image.g) == 0 and len(image.b) == 0:
+            raise RuntimeError("Image is emtpy so nothing can be displayed")
         rgb_image = _capnp_to_camera_view(
             sensor_readings.cameraView, camera_sensor.camera_size
         )

modular_robot_physical/revolve2/modular_robot_physical/robot_daemon/_robo_server_impl.py

@@ -256,7 +256,6 @@ def _get_sensor_readings(
                 pins_readings.append(value)
 
             battery = self._physical_interface.get_battery_level()
-
             imu_orientation = self._physical_interface.get_imu_orientation()
             imu_specific_force = self._physical_interface.get_imu_specific_force()
             imu_angular_rate = self._physical_interface.get_imu_angular_rate()
@@ -284,7 +283,7 @@ def _vector3_to_capnp(vector: Vector3) -> capnpVector3:
         )
 
     @staticmethod
-    def _camera_view_to_capnp(image: NDArray[np.uint8]) -> capnpImage:
+    def _camera_view_to_capnp(image: NDArray[np.uint8] | None) -> capnpImage:
         """
         Convert an image as an NDArray into an capnp compatible Image.
 
@@ -294,8 +293,15 @@ def _camera_view_to_capnp(image: NDArray[np.uint8]) -> capnpImage:
         :return: The capnp Image object.
         """
         # Convert each channel to a list of Int32 for Cap'n Proto
-        return robot_daemon_protocol_capnp.Image(
-            r=image[:, :, 0].astype(np.int32).flatten().tolist(),
-            g=image[:, :, 1].astype(np.int32).flatten().tolist(),
-            b=image[:, :, 2].astype(np.int32).flatten().tolist(),
-        )
+        if image is None:
+            return robot_daemon_protocol_capnp.Image(
+                r=[],
+                g=[],
+                b=[],
+            )
+        else:
+            return robot_daemon_protocol_capnp.Image(
+                r=image[:, :, 0].astype(np.int32).flatten().tolist(),
+                g=image[:, :, 1].astype(np.int32).flatten().tolist(),
+                b=image[:, :, 2].astype(np.int32).flatten().tolist(),
+            )

modular_robot_simulation/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "poetry.core.masonry.api"
 
 [tool.poetry]
 name = "revolve2-modular-robot-simulation"
-version = "1.2.2"
+version = "1.2.3"
 description = "Revolve2: Functionality to define scenes with modular robots in a terrain and simulate them."
 readme = "../README.md"
 authors = [
@@ -27,8 +27,8 @@ packages = [{ include = "revolve2" }]
 
 [tool.poetry.dependencies]
 python = "^3.10,<3.12"
-revolve2-modular-robot = "1.2.2"
-revolve2-simulation = "1.2.2"
+revolve2-modular-robot = "1.2.3"
+revolve2-simulation = "1.2.3"
 
 [tool.poetry.extras]
 dev = []

simulation/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "poetry.core.masonry.api"
 
 [tool.poetry]
 name = "revolve2-simulation"
-version = "1.2.2"
+version = "1.2.3"
 description = "Revolve2: Physics simulation abstraction layer."
 readme = "../README.md"
 authors = [

simulators/mujoco_simulator/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "poetry.core.masonry.api"
 
 [tool.poetry]
 name = "revolve2-mujoco-simulator"
-version = "1.2.2"
+version = "1.2.3"
 description = "Revolve2: MuJoCo simulator."
 readme = "../../README.md"
 authors = [
@@ -28,7 +28,7 @@ packages = [{ include = "revolve2" }]
 
 [tool.poetry.dependencies]
 python = "^3.10,<3.12"
-revolve2-simulation = "1.2.2"
+revolve2-simulation = "1.2.3"
 mujoco-python-viewer = "^0.1.3"
 mujoco = "^2.2.0"
 dm-control = "^1.0.3"

standards/pyproject.toml

@@ -9,7 +9,7 @@ build-backend = "poetry.core.masonry.api"
 
 [tool.poetry]
 name = "revolve2-standards"
-version = "1.2.2"
+version = "1.2.3"
 description = "Revolve2: Standard tools, parameters, terrains, robots and more for simulations and experiments."
 readme = "../README.md"
 authors = [
@@ -38,7 +38,7 @@ script = "revolve2/standards/morphological_novelty_metric/_build_cmodule.py"
 
 [tool.poetry.dependencies]
 python = "^3.10,<3.12"
-revolve2-modular-robot-simulation = "1.2.2"
+revolve2-modular-robot-simulation = "1.2.3"
 noise = "^1.2.2"
 multineat = "^0.12"
 sqlalchemy = "^2.0.0"

standards/revolve2/standards/genotypes/cppnwin/modular_robot/v2/_body_develop.py

@@ -117,7 +117,7 @@ def __evaluate_cppn(
 
     The output ranges between [0,1] and we have 4 rotations available (0, 90, 180, 270).
     """
-    angle = max(0, int(outputs[0] * 4 - 1e-6)) * (np.pi / 2.0)
+    angle = max(0, int(outputs[1] * 4 - 1e-6)) * (np.pi / 2.0)
 
     return module_type, angle