tide-sim 0.2.0

A package for adding a simulation environment to a tide robot

Tide Simulation

A Python package for adding a simulation environment to a tide robot using PyBullet. This package provides a simulation node that can be used to simulate robot behavior in a physics environment.

Features

• PyBullet-based physics simulation
• Real-time robot joint control
• Integration with tide robot framework
• Support for custom URDF models
• Configurable simulation parameters

Installation

From GitHub

You can install the package directly from GitHub using pip:

pip install git+https://github.com/schreiaj/tide-sim.git

Or with uv:

uv pip install git+https://github.com/schreiaj/tide-sim.git

Usage

The package provides a SimulationNode class that can be used to simulate robot behavior:

It can be used like any other node in your tide project

- type: tide_sim.SimulationNode
    params:
      robot_id: "simbot"
      sim_rate: 60
      update_rate: 20

Configuration Options

• robot_id: Identifier for the robot (default: "simbot")
• headless: Run simulation without GUI (default: False)
• sim_rate: Physics simulation rate in Hz (default: 240)
• update_rate: Rate at which pose updates will be published
• urdf_path: Path to the robot's URDF file (default: "assets/simulation/robot.urdf")

Joint Control

The simulation node subscribes to joint state commands and applies them to the simulated robot:

It uses the joint names from the URDF file. If positions are specified it will use a position controller with velocity and effort constraints. If no position but a velocity it will use a velocity controller with effort constraints. If no position or velocity it will use a torque controller.

It is criticl that all arrays are the same length. This may be enforced in the future but for now it will just cause runtime errors.

from tide_sim import JointState

# Create a joint state command
joint_state = JointState(
    name=["joint1", "joint2"],
    position=[0.0, 1.57],  # in radians
    velocity=[],   # in rad/s
    effort=[]      # in N⋅m
)

# The simulation node will automatically apply these joint states

Development

For development, clone the repository and install in editable mode:

# Clone the repository
git clone https://github.com/schreiaj/tide-sim.git
cd tide-sim

# Create virtual environment and install dependencies
make install

# Install pre-commit hooks (optional but recommended)
pip install pre-commit
pre-commit install

The project uses several development tools:

• black for code formatting
• isort for import sorting
• ruff for linting
• mypy for type checking
• pytest for testing

To run the development tools:

make test     # Run tests
make lint     # Run linters
make format   # Format code
make clean    # Clean up build artifacts

Dependencies

• pybullet>=3.2.7: Physics simulation engine
• tide-sdk>=0.1.5: Tide robot framework integration

License

MIT License