Modelito Soft Robotics Simulator

Bringing soft robotics to life through intuitive simulation

A friendly and powerful Python-based soft robotics simulator that makes designing and testing deformable robots a delightful experience! Whether you're a robotics enthusiast, researcher, or just curious about soft robots, Modelito is here to help you bring your ideas to life.

👋 Welcome to Modelito!

Modelito is crafted with love by the MODELO KIND ENGINEERING TEAM:

• Daniel Motilla (M0TH)
• Frederick Ayala
• Davide Vigano
• Oyvind Soroy (Colonthree)
• Drake (Yoshi)

We hope you have fun with our software and create something wonderful :3

⚡ Quick Start

1. Set up your environment:

conda create -n MODELITO python=3.13
conda activate MODELITO
pip install numpy scipy matplotlib vedo PyQt6 lark

2. Launch Modelito:

python modelito.py

3. Start Creating! Create a robot definition (e.g., my_robot.robot) and load it in the editor.

🤖 Example Robots

We've included some fun example robots to help you get started:

• quadruped_robot.robot: A lively four-legged walking robot that can traverse various terrains
• worm_robot.robot: An elegant segmented robot with smooth undulating motion

Feel free to modify these examples or use them as inspiration for your own creations!

✨ Key Features

• 🎨 Intuitive Visual Interface with syntax highlighting for easy robot design
• ⚡ Real-time Physics Simulation for immediate feedback
• 🦿 Multiple Gait Patterns including quadruped and worm-like motion
• 🛠️ Highly Customizable robot parameters for endless possibilities
• 🌟 Beautiful 3D Visualization powered by vedo

📝 Robot Definition Language

Modelito uses an intuitive, easy-to-learn language for defining robots. Here's a basic structure to get you started:

robot MyRobot {
    body {
        shape: box(w, h, d) | cylinder(r, h) | table | worm
        stiffness: <number>
        mass: <number>
    }
    
    parts {
        part_name: leg | body_part {
            position: (x, y, z)
            size: (w, h, d)
            stiffness: <number>
            mass: <number>
        }
    }
    
    actuator {
        gait: quadruped | worm
        frequency: <number>
        forces: {
            lift: <number>
            push: <number>
            swing: <number>
        }
    }
}

⌨️ Controls

We've kept the controls simple and familiar:

• Ctrl+Enter: Bring your robot to life (Run simulation)
• Ctrl+N: Start a new creation
• Ctrl+O: Open an existing robot
• Ctrl+S: Save your work

🤝 Contributing & Support

We love seeing our community grow! Here's how you can get involved:

• 🐛 Found a bug? Open an issue
• 💡 Have an idea? Share your feature requests
• 🔧 Want to contribute code? Submit a pull request
• 📚 Need help? Join our community discussions
• ☕ Love the project? Buy us a coffee on Ko-fi

Let's create amazing soft robots together! 🚀