Usage
=====

PyRoboSim offers a standalone Python API for modeling worlds and simulating robots acting within those worlds.
Optionally, you can also launch this tool with:

 * A ROS 2 interface that offers topics, services, and actions to interact with the world.
 * A `PySide6 <https://doc.qt.io/qtforpython-6/>`_ based GUI, and an experimental `Plotly Dash <https://dash.plotly.com/>`_ web UI, for visualizing the world.

Refer to the following pages for different types of usage guides.

.. toctree::
   :maxdepth: 1

   basic_usage
   robot_actions
   robot_dynamics
   multirobot
   path_planners
   sensors
   tamp
   geometry_conventions