Creating an Object

In this section, we will discuss the concept of Object within EAGERx by going through the steps of creating the Pendulum object. For this Pendulum Object we will create two engine implementations, i.e. for the OdeEngine and for the RealEngine. This will allow us to use the same Object for both simulated and real experiments. We will start by implementing the agnostic part of the Pendulum (stuff that is independent from the Engine that is used). Next, we will implement everything related to the OdeEngine and finally we create the implementation for the RealEngine.

Full code is available here.

In this section we will discuss the concept of a Object. An Object consists of a collection of actuators, sensors and states. Within the Object, we also define the EngineGraph by creating a graph of nodes of type EngineNode for each physics engine.

Table of Contents

• Agnostic
  • agnostic
  • spec
• Engine-Specific (OdeEngine)
  • ode_engine
• Engine Graph
  • Constructing the EngineGraph
  • Visualization and Validation
• Engine-Specific (RealEngine)
  • real_engine