trunk-sim

The ASL Trunk simulator is a tool designed to simulate the dynamics of a trunk system. It provides functionalities to generate, manipulate, and visualize trunk models, as well as to run simulations and analyze the results based on a user-defined control policy.

Features

• Generate trunk models with different properties
• Add and manipulate simulation data
• Create PyTorch datasets for machine learning
• Visualize and evaluate policies in simulation

Installation

Install directly from PyPI:

pip install trunk-sim

Usage

Generating Data

To generate simulation data, run:

uv run scripts/generate_data.py --render_video

Contribute

Running Tests

Run tests with:

pytest

Acknowledgements

This project is developed and maintained by the ASL team at Stanford University.