Creature.py 

import genome

from xmldom.minidom import getDOMImplementation

from enum import Enum

import numpy as np

class MotorTypeEnum:

PULSE

SINE

class Motor:

def initself controlwaveform, controlamp, controlfreq:

if controlwaveform :

self.motortype MotorType.PULSE

else:

self.motortype MotorType.SINE

self.amp controlamp

self.freq controlfreq

self.phase

def getoutputself:

self.phase selfphase self.freqnppi

if self.motortype MotorType.PULSE:

if self.phase nppi:

output

else:

output

if self.motortype MotorType.SINE:

output npsinselfphase

return output

class Creature:

def initself genecount:

self.spec genome.Genome.getgenespec

self.dna genome.Genome.getrandomgenomelenselfspec genecount

self.flatlinks None

self.explinks None

self.motors None

self.startposition None

self.lastposition None

def getflatlinksself:

if self.flatlinks None:

gdicts genome.Genome.getgenomedictsselfdna, self.spec

self.flatlinks genome.Genome.genometolinksgdicts

return self.flatlinks

def getexpandedlinksself:

self.getflatlinks

if self.explinks is not None:

return self.explinks

explinks selfflatlinks

genome.Genome.expandLinksselfflatlinks

self.flatlinksname,

self.flatlinks,

explinks

self.explinks explinks

return self.explinks

def toxmlself:

self.getexpandedlinks

domimpl getDOMImplementation

adom domimpl.createDocumentNone \"start\", None

robottag adom.createElementrobot

for link in self.explinks:

robottag.appendChildlinktolinkelementadom

first True

for link in self.explinks:

if first:# skip the root node!

first False

continue

robottag.appendChildlinktojointelementadom

robottag.setAttributename \"pepe\" # choose a name!

return robottag.toprettyxml

def getmotorsself:

self.getexpandedlinks

if self.motors None:

motors

for i in range lenselfexplinks:

l self.explinksi

m Motorlcontrolwaveform, lcontrolamp, lcontrolfreq

motors.appendm

self.motors motors

return self.motors

def updatepositionself pos:

if self.startposition None:

self.startposition pos

else:

self.lastposition pos

def getdistancetravelledself:

if self.startposition is None or self.lastposition is None:

return

p npasarrayselfstartposition

p npasarrayselflastposition

dist nplinalg.normpp

return dist

def updatednaself dna:

self.dna dna

self.flatlinks None

self.explinks None

self.motors None

self.startposition None

self.lastposition None