WA Vehicle Simulator

The WA Simulator is a powerful, multi-platform, lightweight and user-friendly simulation platform for testing algorithms intended for autonomous robot or vehicle applications. This project is under active development by Wisconsin Autonomous, a student organization at the University of Wisconsin - Madison.

Usage

The WA Simulator is a lightweight tool meant to facilitate algorithm development. As a result, the majority of the actual vehicle dynamics is hidden behind the wa_simulator API. All you need to do is import the module and instantiate the classes.

Default Usage

# Import the wa_simulator
import wa_simulator as wa

def main():
    # Create the system
    sys = wa.WASystem(step_size=1e-3)

    # Create an environment using a premade environment description
    env_filename = wa.WASimpleEnvironment.EGP_ENV_MODEL_FILE
    env = wa.WASimpleEnvironment(sys, env_filename)

    # Create an vehicle using a premade vehicle description
    veh_inputs = wa.WAVehicleInputs()
    veh_filename = wa.WALinearKinematicBicycle.GO_KART_MODEL_FILE
    veh = wa.WALinearKinematicBicycle(sys, veh_inputs, veh_filename)

    # Visualize the simulation using matplotlib
    vis = wa.WAMatplotlibVisualization(sys, veh, veh_inputs, environment=env)

    # Control the vehicle using the arrow keys
    ctr = wa.WAMatplotlibController(sys, veh_inputs, vis)

    # Instantiate the simulation manager
    sim_manager = wa.WASimulationManager(sys, env, veh, vis, ctr)

    # Simulation loop
    step_size = sys.step_size
    while sim_manager.is_ok():
        time = sys.time

        sim_manager.synchronize(time)
        sim_manager.advance(step_size)


if __name__ == "__main__":
    main()

With Chrono

Using Chrono is as simple as changing a few file names and importing the chrono version of the simulator. Even though wa_simulator.chrono is the new import, all default wa_simulator classes are still accessible as seen above. Background about Chrono can be found here.

# Import the wa_simulator
import wa_simulator.chrono as wa

def main():
    # Create the system
    sys = wa.WAChronoSystem(step_size=1e-3)

    # Create an environment using a premade environment description
    env_filename = wa.WAChronoEnvironment.EGP_ENV_MODEL_FILE
    env = wa.WAChronoEnvironment(sys, env_filename)

    # Create an vehicle using a premade vehicle description
    veh_inputs = wa.WAVehicleInputs()
    veh_filename = wa.WAChronoVehicle.GO_KART_MODEL_FILE
    veh = wa.WAChronoVehicle(sys, veh_inputs, env, veh_filename)

    # Visualize the simulation using matplotlib
    vis = wa.WAMatplotlibVisualization(sys, veh, veh_inputs, environment=env)

    # Control the vehicle using the arrow keys
    ctr = wa.WAMatplotlibController(sys, veh_inputs, vis)

    # Instantiate the simulation manager
    sim_manager = wa.WASimulationManager(sys, env, veh, vis, ctr)

    # Simulation loop
    step_size = sys.step_size
    while sim_manager.is_ok():
        time = sys.time

        sim_manager.synchronize(time)
        sim_manager.advance(step_size)


if __name__ == "__main__":
    main()

Command Line Interface

wa_simulator can also be run via a command line interface with the entrypoint wasim. When wa_simulator is installed, this CLI is automatically made available and has subcommands available.

Documentation

License

wa_simulator is made available under the BSD-3 License. For more details, see LICENSE.

Support

Contact Wisconsin Autonomous for any questions or concerns regarding the contents of this repository.

Metadata

Development Status
- 3 - Alpha
License
- OSI Approved :: BSD License
Programming Language
- Python :: 3
Topic
- Software Development

Release files for wa-simulator 2.3.7

For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.

Source distribution (sdist)

Source distribution for wa-simulator 2.3.7
File	Size	Uploaded
wa_simulator-2.3.7.tar.gz	52.9 MB	May 18, 2022	Details

Built distribution (wheel)

Table of built distributions (wheels) for wa-simulator 2.3.7
File	Interpreter	ABI	Platform	Reset
wa_simulator-2.3.7-py3-none-any.whl 76.6 kB May 18, 2022	Python 3	none	any	Details

Total release size: 53.0 MB

Release files / wa_simulator-2.3.7.tar.gz

Download URL	wa_simulator-2.3.7.tar.gz
Size	52.9 MB
Tags	Source
SHA-256 checksum How to use checksums	`ffb49b1f838d6c6ade272bd2090315dd8988da83e3c70263275dfd407403e487`
BLAKE2b-256 checksum How to use checksums	`37a5e749b3cff73a4dc65441d6362c68ddb95b20fadfa83749f0e5d359c3acf1`
Upload date	May 18, 2022
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.0 CPython/3.10.4`

Release files / wa_simulator-2.3.7-py3-none-any.whl

Download URL	wa_simulator-2.3.7-py3-none-any.whl
Size	76.6 kB
Tags	Python 3
SHA-256 checksum How to use checksums	`ca454f2248689f699f187fdbd53f5e47af25f76cd8141d5ccd87461e9f124985`
BLAKE2b-256 checksum How to use checksums	`2d4f81618b16bbf3f1b43051703cb1c2d8e02f3f211f0eab2cbaf993afd9ae4f`
Upload date	May 18, 2022
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.0 CPython/3.10.4`