HermiSim-

A Robotics Simulation Suite

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Table of Contents

1. Overview
2. Features
3. Directory Structure
4. Installation and Usage
5. Components
   • main.py
   • GUI Components
     • styles.py
     • main_window.py
     • file_loader.py
     • object_renderer.py
     • simulation_controls.py
     • sensor_data_viewer.py
   • Tabs
     • render_tab.py
     • simulation_tab.py
     • log_tab.py
     • sensor_tab.py
   • Physics Engine
     • engine.py
     • simulation.py
     • sensor.py
   • Utilities
     • urdf.py
6. Additional Notes

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Note

The missing QBox/QText element definitions and errors have been patched and defined.

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Directory Structure

HERMISIM/
│
├──gui/
│ ├── styles.py
│ ├── main_window.py
│ ├── file_loader.py
│ ├── object_renderer.py
│ ├── simulation_controls.py
│ ├── sensor_data_viewer.py
│ ├── tabs/
│ │ ├── render_tab.py
│ │ ├── simulation_tab.py
│ │ ├── log_tab.py
│ │ ├── sensor_tab.py
├──physics_engine/
│ ├── engine.py
│ ├── simulation.py
│ ├── sensor.py
├──utils/
│ ├── urdf.py
├──tests/
└──main.py
└──README.md

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Overview

This Robotics Simulation Suite is an application designed for loading URDF/XML files, rendering objects in a 3D space, and running robotic simulations using a physics engine. The application supports multiple tabs and functionalities to provide a comprehensive simulation environment.

Features

• Load URDF/XML Files: Load and parse URDF/XML files to simulate robots.
• 3D Rendering: Visualize robots and environments in 3D using PyQt and PyBullet.
• Physics Engine: Leverage PyBullet for realistic physics simulations.
• Sensor Data: Simulate and display data from various sensors like IMU, Lidar, and Camera.
• Simulation Controls: Start, stop, reset simulations, and control simulation speed.
• Logs and Debugging: View logs for debugging and simulation insights.
• Modular Design: The application is modular, allowing easy extension and maintenance.

Installation and Usage

1. Install dependencies:

   python3 -m venv .venv
   source .venv/bin/activate
   pip install -r requirements.txt

2. Run the application:

   python3 main.py

Components

main.py

• Entry Point: Initializes the PyQt application, applies styles, and sets up the main window.

GUI Components

• styles.py: Defines and applies visual styles using PyQt.
• main_window.py: Hosts the main window, integrates tabs, and manages file loading.
• file_loader.py: Loads and parses URDF/XML files for the simulation.
• object_renderer.py: Renders robots and environments in a 3D space.
• simulation_controls.py: Controls for starting, stopping, resetting simulations, and adjusting speed.
• sensor_data_viewer.py: Displays real-time sensor data in a tabular format.

Tabs

• render_tab.py: Visualization of robots and environments.
• simulation_tab.py: Contains elements for controlling the simulation.
• log_tab.py: Displays logs and debugging information.
• sensor_tab.py: Manages and displays sensor-related data.

Physics Engine

• engine.py: Manages connection to the PyBullet engine and handles simulation steps.
• simulation.py: Controls simulation operations, including start, stop, reset, and sensor updates.
• sensor.py: Simulates IMU, Lidar, Camera sensors, and provides realistic data.

Utilities

• urdf.py: Provides a graphical interface for designing and generating URDF files, complete with real-time preview using PyBullet.

Additional Notes

• Ensure that PyBullet and PyQt5 are correctly installed.
• The application is designed to be modular, so new features and sensors can be easily added.