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Brian Delhaisse
2019-08-19 05:51:30 +02:00
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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. The ``Simulator`` interface notably provides a common interface such that it provides features in the same way without regard to the simulator. For instance, a quaternion might be returned as [x,y,z,w] with one simulator, while with another it could be returned as [w,x,y,z]. This is addressed by the ``Simulator`` interfaces which uses only one convention, and convert if necessary the quaternion returned by the inner simulator.
We provide the ``Bullet`` interface, which uses the ``pybullet`` library.
Currently, the fully supported simulator is ``pybullet`` through the ``Bullet`` interface. Other simulators such as ``MuJoCo``, ``Dart`` and ``Raisim`` are partially implemented but their full integration is still in progress.
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.
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
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Future works
------------
My main objectives for future works are the implementation of:
Currently, I am working on supporting the following simulators:
- 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 DART interface; there is a minimal implementation of it in PRL where I was mostly playing around with it.
- the RaiSim interface; the ``raisimpy`` python wrapper has been implemented, and a minimal implementation is provided.
My main objectives for future works are the implementation of:
- 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.
Possible other future works might include the implementation of:
- the DART interface; there is a minimal implementation of it when I was playing around with it
- the opensim interface; this interface is for musculoskeletal models but this can be interesting when testing algorithms/models.