`simulator.sim`

Contains the Sim class. License:

BSD 3-Clause License Copyright (c) 2023, Autonomous Robotics Club of Purdue (Purdue ARC) All rights reserved.

Module Contents

Oversees instance-based parameters and objects of the simulator.

class simulator.sim.Sim(props, urdf_paths, spawn_bounds, field_setup, render_enabled)

Oversees instance-based parameters and objects of the simulator. Cars, ball objects, goal position, etc.

configure_dynamics(body_id, body_type): Set the car’s curvature and general car behavior. @param body_id: The id of the object to be configured. @param body_type: The specific type of object (ie ball,car,goal,etc). @return: Error if not initialized.

create_ball(urdf_name, init_pose=None, init_speed=None, noise=None, init_vel=None): @param urdf_name: The id for the specific pybullet object. @param init_pose: The initial position of the ball (override randomization). @param init_speed: The max speed of the ball (override known speed parameter). @param noise: The noise and if it should be present in the location of the object. @param init_vel: The initial velocity of the ball (override randomization). @return: The ball id if the creation was successful.

create_car(urdf_name, init_pose=None, noise=None, car_props=None): Creates instance based car properties(pose,vel,orient) and configures car dynamics. @param urdf_name: The id for the specific pybullet object. @param init_pose: The initial position of the ball (override randomization). @param noise: The noise and if it should be present in the location of the object. @param car_props: Configuration based car properties. @return: The car id if the creation was successful.

delete_car(car_id): Removes a car from being tracked in the _cars and _car_data lists. @param car_id: The id of the car in the simulator class. @return: Whether the deletion was successful.

step(car_cmd, dt): Moves the sim forward one timestep, checking if a goal is score to end the sim round. @param dt: The change in time (delta-t) for this sim step.

get_car_velocity(id): Returns a tuple of linear and angular velocity for the car.

get_ball_pose(add_noise=False): @param add_noise: State whether you want noise to get the ball position (default=False).

reset(spawn_bounds, car_properties, ball_init_pose, ball_init_speed): Resets the ball, score, winner, spawn bounds, cars and ball. @param spawn_bounds: The new spawn bounds. @param car_properties: The new car properties.

reset_car(car, car_properties): Loops over the cars and generates new initial positions (if they were not specified). @param car_properties: The new car config properties.

check_if_pos_overlap(car_pos): Checks if two cars spawn bounds overlap with each other. @param car_pos: The position of the car. @return: Whether overlap happens (true = need to generate new bounds).