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update docs and UML

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Brian Delhaisse
2019-06-29 02:43:12 +02:00
parent a6d24a6e84
commit 2e4adeda93
18 changed files with 516 additions and 67 deletions
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docs/source/simulators.rst
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Simulators
==========
The simulator is the starting point in the *%PyRoboLearn** (PRL) framework. To avoid a tight coupling with a particular simulator, a ``Simulator`` interface class (from which all the other simulators inherit from) has been implemented. Other .
The simulator is the starting point in the **PyRoboLearn** (PRL) framework. To avoid a tight coupling with a particular simulator, a ``Simulator`` interface class (from which all the other simulators inherit from) has been implemented. Other .
We provide the ``Bullet`` interface.
We provide the ``Bullet`` interface, which uses the ``pybullet`` library.
The general idea is that you would be able to change the simulator if you wish without having to modify any other lines of code. See example below.
Design
------
The important goal when designing the simulators was that it should be a stand alone interface.
.. figure:: ../UML/simulator.png
:alt: UML diagram for Simulators
:align: center
UML diagram for simulators
Currently, the only fully functional simulator is ``Bullet``. While other simulators have been considered such as Gazebo (with ROS), Mujoco, Dart, and others, few of them required a particular license or do not have strong Python bindings.
Note that each simulator implements static methods which provide information about the simulator itself; if it can for instance simulate fluids or not, etc.
How to use a particular simulator in PRL?
-----------------------------------------
@@ -39,21 +57,21 @@ For the moment, the only fully operational interface is ``Bullet``. Some few oth
You can check for more examples in the `examples/simulators <https://github.com/robotlearn/pyrobolearn/tree/master/examples/simulators>`_ folder.
Design
------
The important goal when designing the simulators was that it should be a stand alone interface.
UML
How to create an interface to a simulator?
------------------------------------------
To create your own Simulator, you have to inherit from the ``Simulator`` class defined in `pyrobolearn/simulators/simulator.py <https://github.com/robotlearn/pyrobolearn/blob/master/pyrobolearn/simulators/simulator.py>`_.
.. code-block:: python
import pyrobolearn as prl
class MySimulator(prl.simulators.Simulator):
"""Description"""
# implement all the abstract methods in Simulator
FAQs and Troubleshootings
-------------------------
@@ -69,6 +87,7 @@ Future works
------------
My main objectives for future works are the implementation of:
- the Mujoco interface; I originally did not start with it as it is closed-source and requires a License. However, it is used a lot in research and thus it could be interesting to have it as well.
- the Gazebo-ROS interface; a part has already been implemented but it is far from over.
- the Isaac interface if Nvidia provided a nice Python API.