From 99d9109859642a29b8b11dda68ae2d064eee4823 Mon Sep 17 00:00:00 2001 From: spencerfolk <49084622+spencerfolk@users.noreply.github.com> Date: Thu, 16 Mar 2023 09:51:18 -0400 Subject: [PATCH] Updated rotorpy descriptions. --- rotorpy/README.md | 32 +++++++++++++------------------- 1 file changed, 13 insertions(+), 19 deletions(-) diff --git a/rotorpy/README.md b/rotorpy/README.md index ad5eba3..8b512c3 100644 --- a/rotorpy/README.md +++ b/rotorpy/README.md @@ -1,25 +1,19 @@ -# RotorPy +# Modules -RotorPy is a simple dynamics simulator for teaching aerial robotics planning and control and preliminary probing of interesting research questions. +RotorPy is a simple dynamics simulator for teaching aerial robotics planning and control and preliminary probing of interesting research questions. It is organized into a set of modules: -It was developed initially to cater to the University of Pennsylvania aerial robotics class, and so it has unique aspirations. -* Small. Unlike a black box simulator, the engine is intended to be transparent from top to bottom to a student of robotics. -* Easy to install. Dependencies are minimized to ensure easy native installation on Linux, Windows, and Mac. -* Pedagogical. Structure and notation mirror course content, and documentation should be precise. +* **Vehicles** - Contains the continuous-time dynamics for the UAV of interest. +* **Sensors** - Transforms ground truth vehicle state into noisy and biased measurements. +* **Worlds** - Contains `json` map files for constructing world bounds and obstacles. +* **Controllers** - Stabilizes the vehicle to a trajectory. +* **Trajectories** - Dictates the desired motion of the vehicle in time. +* **Wind** - Custom spatial and/or temporal vector fields that add external disturbances to the vehicle. +* **Estimators** - Use measurements from sensors and a model of the dynamics to filter or estimate beliefs of states or parameters. -# License +These modules come together in `environment.py` which contains the necessary functions for instantiation, execution, and plotting/saving. The simulation is actually carried out in `simulate.py` which will step the vehicle forward in time, governed by the dynamics, trajectory, controller, and sensor measurements. -The package rotorpy itself is released under the MIT License. Contributions of improvements, bug fixes, and documentation are welcome. Course instructors would enjoy hearing if you use rotorpy as a template for other projects. +# License Note -Please note that rotorpy (and its open source license) does not include course materials such as assignments, solutions, and server integrations. +The package rotorpy itself is released under the MIT License. Contributions of improvements, bug fixes, and documentation are welcome. Course instructors would enjoy hearing if you use RotorPy as a template for other projects. -# RotorPy Contributors (nonexhaustive) - -James Paulos (Instructor 2020-2021) -Dan Mox (TA 2020) -Rebecca Li (TA 2020) -Laura Jarin-Lipschitz (TA 2020) -Austin Chen (TA 2020) -Spencer Folk (TA 2021) -Xu Liu (TA 2021) -Fernando Cladera (TA 2021) \ No newline at end of file +Please note that RotorPy (and its open source license) does not include course materials such as assignments, solutions, and server integrations.