CLAW robot physics simulation using Python

• This is a python GUI that simulates the movement of the CLAW robot in water(sea), taking into account drift, inertia, mass, rotational inertia, friction, impulse, collisions, and many other physical parameters.
• A reinforcement learning model has also been trained such that the robot can adjust the angles between its arms to reach the target value
• I made this GUI during my PS1 internship @ Sentient labs as a testing environment for automated movement, before deploying on the real product

Packages used

• Pygame (For GUI)
• Pymunk (For Physics simulation)
• Tensorflow (For reinforcement learning)
• Numpy (For matrix calculations)

Installation

Open the terminal(Mac/Linux)/Command prompt(Windows), make sure you have already installed Python>=3.5 on your system

• Make a new virtual environment
  python -m venv CLAW_sim

  cd CLAW_sim

  Scripts\activate

  python -m pip install -–upgrade pip

• Clone repository

  git clone https://github.com/gpsub/CLAW_physics_simulation_using_python.git

• Install packages

  pip install tensorflow pymunk pygame

How to run

• Go to folder
  cd CLAW_sim

  Scripts\activate (to activate virtual environment)

  cd CLAW_physics_simulation_using_python\mod_code

• To run physics simulation:
  python physics_env_main.py

  Controls:

  • W,S key-> leftmost arm up/down

  • A,D key-> second left arm up/down

  • Up/Down arrow key -> Rightmost arm up/down

  • Left/right arrow key -> second right arm up/down

  • U,H,J,K -> Move entire robot. U: Move forward J: Move back H: Rotate left K: Rotate right.