ir-sim 2.2.0__tar.gz → 2.2.2__tar.gz

{ir_sim-2.2.0/ir_sim.egg-info → ir_sim-2.2.2}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: ir-sim
-Version: 2.2.0
+Version: 2.2.2
 Summary: A simple python based Intelligent Robot Simulator fpr robot navigation and Learning
 Author-email: Han Ruihua <hanrh@connect.hku.hk>
 Project-URL: Homepage, https://github.com/hanruihua/ir-sim

ir_sim-2.2.2/doc/source/conf.py

@@ -0,0 +1,91 @@
+# Configuration file for the Sphinx documentation builder.
+#
+# This file only contains a selection of the most common options. For a full
+# list see the documentation:
+# https://www.sphinx-doc.org/en/master/usage/configuration.html
+
+# -- Path setup --------------------------------------------------------------
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#
+# import os
+# import sys
+# sys.path.insert(0, os.path.abspath('.'))
+import os
+import sys
+from unittest.mock import MagicMock
+
+
+
+
+class Mock(MagicMock):
+    @classmethod
+    def __getattr__(cls, name):
+        return MagicMock()
+
+MOCK_MODULES = ['pynput', 'loguru']
+sys.modules.update((mod_name, Mock()) for mod_name in MOCK_MODULES)
+
+# Rest of your conf.py content
+
+# -- Project information -----------------------------------------------------
+
+project = 'IR-SIM'
+copyright = '2024, Ruihua Han'
+author = 'Ruihua Han'
+
+# The full version, including alpha/beta/rc tags
+release = '2.2.0'
+
+
+# print(os.path.abspath('../../'))
+# sys.path.insert(0, os.path.abspath('../../'))
+# sys.path.insert(0, os.path.abspath("../.."))
+# sys.path.insert(0, os.path.abspath("./"))
+# sys.path.insert(0, os.path.join(os.path.dirname((os.path.abspath('.')), 'irsim')))
+
+# root_path = os.path.abspath(os.path.dirname(os.path.dirname(os.path.dirname(__file__))))
+# sys.path.insert(0, os.path.dirname(__file__))
+
+# sys.path.insert(0, os.path.abspath("../.."))
+# print(os.path.abspath('./'))
+# sys.path.insert(0, os.path.abspath('./'))
+# sys.path.insert(0, os.path.abspath('../src'))
+# sys.path.append(os.path.abspath('../../'))
+# sys.path.insert(0, os.path.abspath(".."))
+
+# -- General configuration ---------------------------------------------------
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+extensions = ['sphinx.ext.autodoc', 'sphinx.ext.viewcode', 'sphinx.ext.githubpages', 'sphinx.ext.napoleon', 'myst_parser', 'sphinx_multiversion'
+]
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ['_templates']
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+# This pattern also affects html_static_path and html_extra_path.
+exclude_patterns = []
+
+# root_doc = 'irsim'
+# -- Options for HTML output -------------------------------------------------
+
+# The theme to use for HTML and HTML Help pages.  See the documentation for
+# a list of builtin themes.
+#
+# html_theme = 'alabaster'
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+# html_static_path = ['_static']
+
+
+html_theme = "sphinx_rtd_theme"
+
+autodoc_member_order = 'bysource'

{ir_sim-2.2.0 → ir_sim-2.2.2/ir_sim.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: ir-sim
-Version: 2.2.0
+Version: 2.2.2
 Summary: A simple python based Intelligent Robot Simulator fpr robot navigation and Learning
 Author-email: Han Ruihua <hanrh@connect.hku.hk>
 Project-URL: Homepage, https://github.com/hanruihua/ir-sim

{ir_sim-2.2.0 → ir_sim-2.2.2}/ir_sim.egg-info/SOURCES.txt

@@ -1,8 +1,9 @@
 LICENSE
 README.md
 pyproject.toml
-doc/image/IR_SIM_logos/logo1.png
-doc/image/IR_SIM_logos/logo1_nobg.png
+doc/animations/image/IR_SIM_logos/logo1.png
+doc/animations/image/IR_SIM_logos/logo1_nobg.png
+doc/source/conf.py
 ir_sim.egg-info/PKG-INFO
 ir_sim.egg-info/SOURCES.txt
 ir_sim.egg-info/dependency_links.txt

{ir_sim-2.2.0 → ir_sim-2.2.2}/irsim/env/env_base.py

@@ -78,14 +78,13 @@ class EnvBase:
         Perform a simulation step in the environment.
 
         Args:
-            if action is list:
-                List of actions to be performed for each robot in the environment.
-            if action is numpy array (2 * 1 vector): 
-                differential robot action:  linear velocity, angular velocity
-                omnidirectional robot action: velocity in x, velocity in y
-                Ackermann robot action: linear velocity, Steering angle
+            action (list or numpy array 2*1): Action to be performed in the environment.
 
-            action_id (int 0): Apply the action to the robot with the given id.
+                - differential robot action:  linear velocity, angular velocity
+                - omnidirectional robot action: v_x -- velocity in x; v_y -- velocity in y
+                - Ackermann robot action: linear velocity, Steering angle
+
+            action_id (int): Apply the action to the robot with the given id.
         '''
 
         if isinstance(action, list):
@@ -113,9 +112,9 @@ class EnvBase:
         Render the environment.
 
         Args:
-            interval (float): Time interval between frames in seconds.
-            figure_kwargs (dict): Additional keyword arguments for saving figures,  see https://matplotlib.org/3.1.1/api/_as_gen/matplotlib.pyplot.savefig.html for detail.
-            kwargs: Additional keyword arguments for drawing components. see object_base.plot() function for detail.
+            interval(float) :  Time interval between frames in seconds.    
+            figure_kwargs(dict) : Additional keyword arguments for saving figures,  see https://matplotlib.org/3.1.1/api/_as_gen/matplotlib.pyplot.savefig.html for detail.        
+            kwargs: Additional keyword arguments for drawing components. see object_base.plot() function for detail.       
         '''
 
         if not self.disable_all_plot: 
@@ -184,25 +183,31 @@ class EnvBase:
         Initialize keyboard control for the environment.
 
         Args:
-            keyboard_kwargs (dict): Dictionary of keyword arguments for keyboard control settings.
+            keyboard_kwargs (dict): Dictionary of keyword arguments for keyboard control settings
+
                 - vel_max (list): Maximum velocities [linear, angular]. Default is [3.0, 1.0].
-                - key_lv_max (float): Maximum linear velocity. Default is vel_max[0].
-                - key_ang_max (float): Maximum angular velocity. Default is vel_max[1].
+
+                - key_lv_max (float): Maximum linear velocity. Default is vel_max [0].
+
+                - key_ang_max (float): Maximum angular velocity. Default is vel_max [1].
+                
                 - key_lv (float): Initial linear velocity. Default is 0.0.
+                
                 - key_ang (float): Initial angular velocity. Default is 0.0.
+                
                 - key_id (int): Initial robot control ID. Default is 0.
             
             Keys:
-                w: Move forward.
-                s: Move backward.
-                a: Turn left.
-                d: Turn right.
-                q: Decrease linear velocity.
-                e: Increase linear velocity.
-                z: Decrease angular velocity.
-                c: Increase angular velocity.
-                alt + num: Change the current control robot id.
-                r: Reset the environment.   
+                - w: Move forward.
+                - s: Move backward.
+                - a: Turn left.
+                - d: Turn right.
+                - q: Decrease linear velocity.
+                - e: Increase linear velocity.
+                - z: Decrease angular velocity.
+                - c: Increase angular velocity.
+                - alt + num: Change the current control robot id.
+                - r: Reset the environment.   
         '''
 
         vel_max = keyboard_kwargs.get('vel_max', [3.0, 1.0])
@@ -254,6 +259,7 @@ class EnvBase:
 
         Args:
             mode (str): Mode to check if all or any of the objects are done.
+
                 - all (str): Check if all objects are done.
                 - any (str): Check if any of the objects are done.
         '''

{ir_sim-2.2.0 → ir_sim-2.2.2}/irsim/env/env_logger.py

@@ -22,7 +22,6 @@ class EnvLogger:
         Log an info message.
 
         Args:
-        ----
             msg (str): The message to log.
         '''
         logger.info(msg)
@@ -32,7 +31,6 @@ class EnvLogger:
         Log an error message.
 
         Args:
-        ----
             msg (str): The message to log.
         '''
         logger.error(msg)
@@ -42,7 +40,6 @@ class EnvLogger:
         Log a debug message.
 
         Args:
-        ----
             msg (str): The message to log.
         '''
         logger.debug(msg)
@@ -52,7 +49,6 @@ class EnvLogger:
         Log a warning message.
 
         Args:
-        ----
             msg (str): The message to log.
         '''
         logger.warning(msg)

{ir_sim-2.2.0 → ir_sim-2.2.2}/irsim/env/env_plot.py

@@ -15,31 +15,31 @@ class EnvPlot:
     '''
     EnvPlot class for visualizing the environment.
 
-    Attributes:
-    -----------
-    grid_map (optional): The grid map of the environment. Png file
+    Args:
 
-    Objects: list of object in the environment.
+        grid_map (optional): The grid map of the environment. Png file
 
-    x_range : list
-        The range of x-axis values. Default is [0, 10].
-    y_range : list
-        The range of y-axis values. Default is [0, 10].
-    
-    saved_figure : dict
-        Keyword arguments for saving the figure.
-        See https://matplotlib.org/3.1.1/api/_as_gen/matplotlib.pyplot.savefig.html for details.
-    saved_ani : dict
-        Keyword arguments for saving the animation.
-        See https://imageio.readthedocs.io/en/v2.8.0/format_gif-pil.html#gif-pil for details.
-
-    kwargs:
-        color_map : dict
-            Color map for different objects.
-        no_axis : bool, optional
-            Whether to show the axis. Default is False.
-        tight : bool, optional
-            Whether to show the axis tightly. Default is True.
+        Objects: list of object in the environment.
+
+        x_range : list
+            The range of x-axis values. Default is [0, 10].
+        y_range : list
+            The range of y-axis values. Default is [0, 10].
+        
+        saved_figure : dict
+            Keyword arguments for saving the figure.
+            See https://matplotlib.org/3.1.1/api/_as_gen/matplotlib.pyplot.savefig.html for details.
+        saved_ani : dict
+            Keyword arguments for saving the animation.
+            See https://imageio.readthedocs.io/en/v2.8.0/format_gif-pil.html#gif-pil for details.
+
+        kwargs:
+            color_map : dict
+                Color map for different objects.
+            no_axis : bool, optional
+                Whether to show the axis. Default is False.
+            tight : bool, optional
+                Whether to show the axis tightly. Default is True.
 
     '''
 
@@ -71,7 +71,7 @@ class EnvPlot:
         Initialize the plot with the given grid map and objects.
 
         Args:
-        ----
+
             grid_map (optional): The grid map of the environment.
             objects (list): List of objects to plot.
             no_axis (bool, optional): Whether to show the axis. Default is False.
@@ -98,7 +98,7 @@ class EnvPlot:
         Draw the components in the environment.
 
         Args:
-        ----
+
             mode: 
                 - static: draw static objects
                 - dynamic: draw dynamic objects
@@ -126,7 +126,7 @@ class EnvPlot:
         Clear the components in the environment.
 
         Args:
-        ---- 
+ 
             mode:
                 - static: clear static objects
                 - dynamic: clear dynamic objects
@@ -164,14 +164,14 @@ class EnvPlot:
             self.ax.imshow(grid_map.T, cmap='Greys', origin='lower', extent = self.x_range + self.y_range) 
 
 
-    def draw_geometry(self, geometry, **kwargs):
+    # def draw_geometry(self, geometry, **kwargs):
         
-        if geometry.geom_type == 'Point':
-            pass
+    #     if geometry.geom_type == 'Point':
+    #         pass
 
-        elif geometry.geom_type == 'MultiLineString':
+    #     elif geometry.geom_type == 'MultiLineString':
 
-            lines = geometry.coords.xy
+    #         lines = geometry.coords.xy
 
     def draw_trajectory(self, traj, traj_type='g-', label='trajectory', show_direction=False, refresh=False, **kwargs):
 
@@ -179,7 +179,7 @@ class EnvPlot:
         Draw a trajectory on the plot
 
         Args:
-        ----
+
             traj: list of points, point: 3*1 np.array, [x, y, theta]
             traj_type: trajectory type, default is 'g-', see https://matplotlib.org/3.1.1/api/_as_gen/matplotlib.pyplot.plot.html for detail
             label: label of the trajectory
@@ -220,7 +220,7 @@ class EnvPlot:
         Draw points on the plot
 
         Args:
-        ----
+
             point_list: list of points, point: 2*1 np.array or [x, y]
             s: size of the points
             c: color of the points
@@ -245,7 +245,7 @@ class EnvPlot:
         Draw a box by the vertices
 
         Args:
-        ----
+
             vertices: 2*edge_number np.array, vertices of the box
             refresh: whether to refresh the plot (clear the previous box)
             color: color and line type of the box
@@ -264,7 +264,7 @@ class EnvPlot:
         save the figure for generating animation
 
         Args:
-        ----
+
             format: format of the figure, default is 'png'
             kwargs: other arguments for the ax savefig, see https://matplotlib.org/3.1.1/api/_as_gen/matplotlib.pyplot.savefig.html for detail, default is {'dpi': 100, 'bbox_inches': 'tight'}       
         '''
@@ -287,7 +287,7 @@ class EnvPlot:
         Save the animation
 
         Args:
-        ----
+
             ani_name: name of the animation, default is 'animation'
             suffix: suffix of the animation, default is '.gif'
             keep_len: length of the last frame, default is 30

{ir_sim-2.2.0 → ir_sim-2.2.2}/irsim/usage/03obstacle_world/obstacle_world.yaml

@@ -4,7 +4,7 @@ world:
   step_time: 0.1  # 10Hz calculate each step
   sample_time: 0.1  # 10 Hz for render and data extraction 
   offset: [0, 0] # the offset of the world on x and y 
-  collision_mode: 'unobstructed'  # 'stop', 'unobstructed', 'reactive'
+  collision_mode: 'stop'  # 'stop', 'unobstructed', 'reactive'
 
 robot:
   - kinematics: {name: 'diff'}  # omni, diff, acker
@@ -24,3 +24,4 @@ obstacle:
 
   - shape: {name: 'linestring', vertices: [[5, 5], [4, 0], [1, 6]] }  # vertices
     state: [0, 0, 0] 
+    unobstructed: True

{ir_sim-2.2.0 → ir_sim-2.2.2}/irsim/usage/04collision_world/collision_world.yaml

@@ -20,6 +20,7 @@ obstacle:
   - shape: {name: 'circle', radius: 1.0}  # radius
     state: [5, 5, 0]  
   
+  
   - shape: {name: 'rectangle', length: 1.5, width: 1.2}  # radius
     state: [6, 5, 1] 
 

{ir_sim-2.2.0 → ir_sim-2.2.2}/irsim/world/object_base.py

@@ -56,7 +56,7 @@ class ObjectBase:
     id_iter = itertools.count()
     vel_dim = (2, 1)
 
-    def __init__(self, shape: str='circle', shape_tuple=None, state=[0, 0, 0], velocity=[0, 0], goal=[10, 10, 0], kinematics: str='omni', role: str='obstacle', color='k', static=False, vel_min=[-1, -1], vel_max=[1, 1], acce=[inf, inf], angle_range=[-pi, pi], behavior=None, goal_threshold=0.1, sensors=None, kinematics_dict=dict(), arrive_mode='position', description=None, group=0, reso=0.1, state_dim=3, **kwargs) -> None:
+    def __init__(self, shape: str='circle', shape_tuple=None, state=[0, 0, 0], velocity=[0, 0], goal=[10, 10, 0], kinematics: str='omni', role: str='obstacle', color='k', static=False, vel_min=[-1, -1], vel_max=[1, 1], acce=[inf, inf], angle_range=[-pi, pi], behavior=None, goal_threshold=0.1, sensors=None, kinematics_dict=dict(), arrive_mode='position', description=None, group=0, reso=0.1, state_dim=3, unobstructed=False, **kwargs) -> None:
 
         '''
         parameters:
@@ -89,7 +89,7 @@ class ObjectBase:
                 
             arrive_mode: position or state
             state_dim: the dimension of the state, default is 3
-
+            unobstructed: whether the object is unobstructed, default is False
         '''
 
         self._id = next(ObjectBase.id_iter)
@@ -117,6 +117,7 @@ class ObjectBase:
         self.stop_flag = False
         self.arrive_flag = False
         self.collision_flag = False
+        self.unobstructed = unobstructed
 
         # information
         self.static = static
@@ -165,6 +166,8 @@ class ObjectBase:
 
         self.plot_kwargs = kwargs.get('plot', dict())
 
+        self.collision_obj = []
+
 
     def __repr__(self) -> str:
         pass
@@ -307,7 +310,8 @@ class ObjectBase:
         self.check_collision_status()
 
         if world_param.collision_mode == 'stop':
-            self.stop_flag = self.collision_flag
+            self.stop_flag = any([not obj.unobstructed for obj in self.collision_obj])
+
         elif world_param.collision_mode == 'reactive':
             pass
 
@@ -340,12 +344,22 @@ class ObjectBase:
         
         collision_flags = [ self.check_collision(obj) for obj in env_param.objects if self.id != obj.id]
 
-        new_collision_flag = any(collision_flags)
+        self.collision_obj = []
 
-        if new_collision_flag and not self.collision_flag:
-            env_param.logger.warning( self.role + "{} is collided at state {}".format(self.id, list(np.round(self._state[:2, 0], 2))))
+        for obj in env_param.objects:
+            if self.id != obj.id:
+                if self.check_collision(obj):
+                    if self.role == 'robot': 
+                        self.collision_obj.append(obj)
+                        if not self.collision_flag: env_param.logger.warning( self.role + "{} is collided with {} at state {}".format(self.id, obj.id, list(np.round(self._state[:2, 0], 2))) )
+                        
+        self.collision_flag = any(collision_flags)
+        # new_collision_flag = any(collision_flags)
+
+        # if new_collision_flag and not self.collision_flag:
+        #     env_param.logger.warning( self.role + "{} is collided at state {}".format(self.id, list(np.round(self._state[:2, 0], 2))))
             
-        self.collision_flag = new_collision_flag
+        
 
 
     def check_collision(self, obj):

{ir_sim-2.2.0 → ir_sim-2.2.2}/pyproject.toml

@@ -6,7 +6,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "ir-sim"
-version = "2.2.0"
+version = "2.2.2"
 authors = [
   { name="Han Ruihua", email="hanrh@connect.hku.hk" },
 ]