https://github.com/teoneag/dies-simulator-robocup

https://github.com/teoneag/dies-simulator-robocup

Last synced: 3 months ago
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• Host: GitHub
• URL: https://github.com/teoneag/dies-simulator-robocup
• Owner: Teoneag
• Created: 2023-10-08T22:15:24.000Z (over 1 year ago)
• Default Branch: master
• Last Pushed: 2023-11-02T14:07:51.000Z (over 1 year ago)
• Last Synced: 2025-01-16T18:06:00.604Z (5 months ago)
• Language: Rust
• Size: 398 KB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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Integrated RoboCup 3D simulation environment for testing - in Rust 

By Teodor Neagoe, from team Delft Mercurians





## Goals

### Level 1

- can simulate robot and a ball on a field in 3D

- basic visualization

- can receive commands to control robot from framework

### Level 2

- test harness for unit testing behaviors

    - define conditions

    - define target

    - run simulation with the framework and test

### Level 3

- full match simulation

    - integrate with an autoref

## TODO

- shooter: push the ball forward (plane collider???)

- dribbler: (spinning cylinder that pulls the ball to the circle) ~ apply force when in a defined area

- velocity

    - controller: (target_velocity, actual_velocity) → velocity (fb, )

        - pid controller

    - bgui

- when speed is too high, box goes out of wall

- terrain lines

- robot colors

- Maybe parameters panel, with https://github.com/mvlabat/bevy_egui

## Done (last → first)

- move the robot relative to it’s orientation

- spin robot

- make function to generate box

- add walls

- add ball friction - rolling friction

    - there is no rolling friction, so I added dampling

- move robot independently

- move robot by forces

- move robot

- Graphics: Adding mashes

- add a robot

- add ball

- add terrain

- Make camera movable: bevy_panorbit_camera

    - declare dependency: bevy_panorbit_camera = "0.8.0”

    - import it: use bevy_panorbit_camera::{PanOrbitCamera, PanOrbitCameraPlugin};

    - add to setup_graphincs, in commands.spawn

        - PanOrbitCamera::default()),

- updated default code that used deprecated functions with up to date functions - 5 min

- installation - 1 min

    - cargo init

    - cargo add bevy_rapier3d

    - cargo add bevy

- found 3d game engine to render the info from the physics engine - 5 min

    - Bevy

- found best 3d physics engine - 15 min

    - Rapier

    - areWeGameYet

    - Np Physics

    - Salva

## Ideas

- Headless mode - run physics and get results back without rendering anything

- Browser rendering - view live 3D visualization in a browser window

    - https://bevy-cheatbook.github.io/platforms/wasm.html ?

- Stochastic simulation

    - add random noise to simulation to account for sim2real

    - monte carlo simulation?

    - needs looking into

- Test harness - helper APIs for writing SITL tests

    

    Something like

    

## Used commands

- cargo init

- cargo add bevy_rapier3d

- cargo add bevy