This is a practical task for my university for ROMS discipline.
The goal of the task was the optimization process of jumping mechanism. There were two metrics for optimization:
Jump height
Time of Flight
You can download the repository to check it yourself or to improve the code. Moreover, you can add your own actuators if you follow the pattern in actuators.py file.
- Download the repository
- Use terminal to start the
optimization.pyfile - Wait till all itterations are complete! It may take several hours due to brute-force method!
- You can enable and disable visualisation with visualisationActive parametr (visualisation is off by default)
- You can change the step of simualtion
You can stop simualiton at any time with Ctrl + C
optimization.py- main file with optimization methodsactuators.py- a dictionary with all used actuators, you can add more or change existing onesmodelStart.xml- initial model for MuJoCo, highly recommending not to change itmodel.xml- rewritten version, changes automatically every itterationresults.xlsx- the results I got