[Fix] Spider with blocks module

Author: JohnGrigoriadis

examples/re_book/1_brain_evolution.py

@@ -30,7 +30,7 @@
 
 # Local libraries
 from ariel.simulation.environments import SimpleFlatWorld
-from new_bodies import body_spider45
+from ariel.body_phenotypes.robogen_lite.prebuilt_robots.spider_with_blocks import body_spider45
 from ariel.utils.tracker import Tracker
 from ariel.utils.renderers import VideoRecorder, video_renderer
 

src/ariel/body_phenotypes/robogen_lite/prebuilt_robots/spider_with_blocks.py

@@ -0,0 +1,57 @@
+import math
+import sys
+from typing import Callable
+
+import numpy as np
+
+from ariel.body_phenotypes.robogen_lite.config import ModuleFaces
+from ariel.body_phenotypes.robogen_lite.modules.brick import BrickModule
+from ariel.body_phenotypes.robogen_lite.modules.core import CoreModule
+from ariel.body_phenotypes.robogen_lite.modules.hinge import HingeModule
+
+current_module = sys.modules[__name__]
+
+SUBMODULES = HingeModule | BrickModule
+MODULES = CoreModule | SUBMODULES
+
+faces = [
+    ModuleFaces.FRONT, ModuleFaces.LEFT, ModuleFaces.BACK, ModuleFaces.RIGHT,
+]
+F, L, B, R = faces
+
+def make_core():
+    core = CoreModule(index=0)
+    core.name = "C"
+    return core
+
+def attach(parent: MODULES,
+           face: ModuleFaces,
+           module: SUBMODULES,
+           name: str,
+           rotation: float = 0) -> SUBMODULES:
+
+    name = f"{parent.name}-{name}"
+    parent.sites[face].attach_body(body=module.body, prefix=name + "-")
+
+    module.name = name
+
+    if rotation != 0:
+        module.rotate(rotation)
+
+    return module
+
+def body_spider() -> CoreModule:
+    core = make_core()
+
+    for i, f in enumerate(faces, start=1):
+        h0 = attach(core, f, HingeModule(index=i), f"{f.name[0]}H")
+        b0 = attach(h0, F, BrickModule(index=4+i), "B")
+        h1 = attach(b0, F, HingeModule(index=8+i), "H", rotation=90)
+        b1 = attach(h1, F, BrickModule(index=12+i), "B")
+
+    return core
+
+def body_spider45() -> CoreModule:
+    core = body_spider()
+    core.spec.body("core").quat = (math.cos(math.pi / 8), 0, 0, math.sin(math.pi / 8))
+    return core