ir-sim 2.2.4__tar.gz → 2.2.6__tar.gz

{ir_sim-2.2.4 → ir_sim-2.2.6}/PKG-INFO

@@ -1,7 +1,7 @@
 Metadata-Version: 2.1
 Name: ir-sim
-Version: 2.2.4
-Summary: A simple python based Intelligent Robot Simulator fpr robot navigation and Learning
+Version: 2.2.6
+Summary: Open-source, lightweight robot 2D simulator based on Python, specifically designed for intelligent robotics navigation and learning.
 Author-email: Han Ruihua <hanrh@connect.hku.hk>
 Project-URL: Homepage, https://github.com/hanruihua/ir-sim
 Classifier: Programming Language :: Python :: 3
@@ -17,7 +17,7 @@ Requires-Dist: pyyaml
 Requires-Dist: pynput
 Requires-Dist: imageio
 Requires-Dist: pathlib
-Requires-Dist: shapely
+Requires-Dist: shapely==2.0.6
 Requires-Dist: scikit-image
 Requires-Dist: loguru
 
@@ -33,8 +33,7 @@ Requires-Dist: loguru
 <a href="https://img.shields.io/badge/release-v2.1.0-brightgreen?link=https%3A%2F%2Fgithub.com%2Fhanruihua%2Fir-sim%2Freleases%2F
 )](https://github.com/hanruihua/ir-sim/releases/"><img src='https://img.shields.io/github/v/release/hanruihua/ir-sim?color=brightgreen' alt='Github Release'></a>
 <a href="https://github.com/hanruihua/ir-sim?tab=MIT-1-ov-file"><img src='https://img.shields.io/badge/License-MIT-blue' alt='License'></a>
-<a href="https://pypistats.org/packages/ir-sim"><img src='https://img.shields.io/pypi/dm/ir-sim' alt='Download'></a>
-
+<a href="https://pepy.tech/project/ir-sim"><img src="https://img.shields.io/pepy/dt/ir-sim" alt="PyPI Downloads"></a>
 </div>
 
 IR-SIM is an open-source, lightweight robot 2D simulator based on Python, specifically designed for intelligent robotics navigation and learning. Primarily intended for research and educational purposes, it is user-friendly and easily customizable.
@@ -48,8 +47,7 @@ It provides the following features:
 
 Robot             |  Car
 :-------------------------:|:-------------------------:
-![robot](doc/animations/rvo.gif)  |  ![car](doc/animations/car.gif)
-
+![robot](https://github.com/user-attachments/assets/5930b088-d400-4943-8ded-853c22eae75b)  |  ![car](https://github.com/user-attachments/assets/3257abc1-8bed-40d8-9b51-e5d90b06ee06)
 
 ## Prerequisite
 
@@ -167,19 +165,10 @@ obstacle:
 - [RDA_planner](https://github.com/hanruihua/RDA_planner)（RAL & IROS2023）
 
 
-<!-- ## Contact: 
-hanrh@connect.hku.hk -->
+## Acknowledgement
 
-<!-- ## Citation
+- [PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics)
 
-```
-@misc{ir-sim,
- author = "Ruihua Han",
- title = "ir-sim: Python based light-weight simulator for robotics navigation and learning.",
- year = 2024,
- url = "https://github.com/hanruihua/ir-sim"
-}
-``` -->
 
 
 

{ir_sim-2.2.4 → ir_sim-2.2.6}/README.md

@@ -10,8 +10,7 @@
 <a href="https://img.shields.io/badge/release-v2.1.0-brightgreen?link=https%3A%2F%2Fgithub.com%2Fhanruihua%2Fir-sim%2Freleases%2F
 )](https://github.com/hanruihua/ir-sim/releases/"><img src='https://img.shields.io/github/v/release/hanruihua/ir-sim?color=brightgreen' alt='Github Release'></a>
 <a href="https://github.com/hanruihua/ir-sim?tab=MIT-1-ov-file"><img src='https://img.shields.io/badge/License-MIT-blue' alt='License'></a>
-<a href="https://pypistats.org/packages/ir-sim"><img src='https://img.shields.io/pypi/dm/ir-sim' alt='Download'></a>
-
+<a href="https://pepy.tech/project/ir-sim"><img src="https://img.shields.io/pepy/dt/ir-sim" alt="PyPI Downloads"></a>
 </div>
 
 IR-SIM is an open-source, lightweight robot 2D simulator based on Python, specifically designed for intelligent robotics navigation and learning. Primarily intended for research and educational purposes, it is user-friendly and easily customizable.
@@ -25,8 +24,7 @@ It provides the following features:
 
 Robot             |  Car
 :-------------------------:|:-------------------------:
-![robot](doc/animations/rvo.gif)  |  ![car](doc/animations/car.gif)
-
+![robot](https://github.com/user-attachments/assets/5930b088-d400-4943-8ded-853c22eae75b)  |  ![car](https://github.com/user-attachments/assets/3257abc1-8bed-40d8-9b51-e5d90b06ee06)
 
 ## Prerequisite
 
@@ -144,19 +142,10 @@ obstacle:
 - [RDA_planner](https://github.com/hanruihua/RDA_planner)（RAL & IROS2023）
 
 
-<!-- ## Contact: 
-hanrh@connect.hku.hk -->
+## Acknowledgement
 
-<!-- ## Citation
+- [PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics)
 
-```
-@misc{ir-sim,
- author = "Ruihua Han",
- title = "ir-sim: Python based light-weight simulator for robotics navigation and learning.",
- year = 2024,
- url = "https://github.com/hanruihua/ir-sim"
-}
-``` -->
 
 
 

{ir_sim-2.2.4 → ir_sim-2.2.6}/ir_sim.egg-info/PKG-INFO

@@ -1,7 +1,7 @@
 Metadata-Version: 2.1
 Name: ir-sim
-Version: 2.2.4
-Summary: A simple python based Intelligent Robot Simulator fpr robot navigation and Learning
+Version: 2.2.6
+Summary: Open-source, lightweight robot 2D simulator based on Python, specifically designed for intelligent robotics navigation and learning.
 Author-email: Han Ruihua <hanrh@connect.hku.hk>
 Project-URL: Homepage, https://github.com/hanruihua/ir-sim
 Classifier: Programming Language :: Python :: 3
@@ -17,7 +17,7 @@ Requires-Dist: pyyaml
 Requires-Dist: pynput
 Requires-Dist: imageio
 Requires-Dist: pathlib
-Requires-Dist: shapely
+Requires-Dist: shapely==2.0.6
 Requires-Dist: scikit-image
 Requires-Dist: loguru
 
@@ -33,8 +33,7 @@ Requires-Dist: loguru
 <a href="https://img.shields.io/badge/release-v2.1.0-brightgreen?link=https%3A%2F%2Fgithub.com%2Fhanruihua%2Fir-sim%2Freleases%2F
 )](https://github.com/hanruihua/ir-sim/releases/"><img src='https://img.shields.io/github/v/release/hanruihua/ir-sim?color=brightgreen' alt='Github Release'></a>
 <a href="https://github.com/hanruihua/ir-sim?tab=MIT-1-ov-file"><img src='https://img.shields.io/badge/License-MIT-blue' alt='License'></a>
-<a href="https://pypistats.org/packages/ir-sim"><img src='https://img.shields.io/pypi/dm/ir-sim' alt='Download'></a>
-
+<a href="https://pepy.tech/project/ir-sim"><img src="https://img.shields.io/pepy/dt/ir-sim" alt="PyPI Downloads"></a>
 </div>
 
 IR-SIM is an open-source, lightweight robot 2D simulator based on Python, specifically designed for intelligent robotics navigation and learning. Primarily intended for research and educational purposes, it is user-friendly and easily customizable.
@@ -48,8 +47,7 @@ It provides the following features:
 
 Robot             |  Car
 :-------------------------:|:-------------------------:
-![robot](doc/animations/rvo.gif)  |  ![car](doc/animations/car.gif)
-
+![robot](https://github.com/user-attachments/assets/5930b088-d400-4943-8ded-853c22eae75b)  |  ![car](https://github.com/user-attachments/assets/3257abc1-8bed-40d8-9b51-e5d90b06ee06)
 
 ## Prerequisite
 
@@ -167,19 +165,10 @@ obstacle:
 - [RDA_planner](https://github.com/hanruihua/RDA_planner)（RAL & IROS2023）
 
 
-<!-- ## Contact: 
-hanrh@connect.hku.hk -->
+## Acknowledgement
 
-<!-- ## Citation
+- [PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics)
 
-```
-@misc{ir-sim,
- author = "Ruihua Han",
- title = "ir-sim: Python based light-weight simulator for robotics navigation and learning.",
- year = 2024,
- url = "https://github.com/hanruihua/ir-sim"
-}
-``` -->
 
 
 

{ir_sim-2.2.4 → ir_sim-2.2.6}/ir_sim.egg-info/SOURCES.txt

@@ -1,8 +1,6 @@
 LICENSE
 README.md
 pyproject.toml
-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
@@ -21,7 +19,8 @@ irsim/global_param/path_param.py
 irsim/global_param/world_param.py
 irsim/lib/__init__.py
 irsim/lib/behavior.py
-irsim/lib/behaviorlib.py
+irsim/lib/behavior_methods.py
+irsim/lib/behavior_registry.py
 irsim/lib/generation.py
 irsim/lib/kinematics.py
 irsim/lib/algorithm/rvo.py
@@ -37,10 +36,12 @@ irsim/usage/04collision_world/collision_world.py
 irsim/usage/04collision_world/collision_world.yaml
 irsim/usage/05lidar_world/lidar_world.py
 irsim/usage/05lidar_world/lidar_world.yaml
+irsim/usage/05lidar_world/lidar_world_noise.yaml
 irsim/usage/06multi_objects_world/multi_objects_world.py
 irsim/usage/06multi_objects_world/multi_objects_world.yaml
 irsim/usage/07render_world/render.py
 irsim/usage/07render_world/render.yaml
+irsim/usage/07render_world/render_save_figure.py
 irsim/usage/08random_obstacle/random_obstacle.py
 irsim/usage/08random_obstacle/random_obstacle.yaml
 irsim/usage/09keyboard_control/keyboard_control.py
@@ -52,8 +53,9 @@ irsim/usage/11collision_avoidance/collision_avoidance.py
 irsim/usage/11collision_avoidance/collision_avoidance.yaml
 irsim/usage/12dynamic_obstacle/dynamic_obstacle.py
 irsim/usage/12dynamic_obstacle/dynamic_obstacle.yaml
-irsim/usage/test_all_objects/all_objects.py
-irsim/usage/test_all_objects/all_objects.yaml
+irsim/usage/13custom_behavior/custom_behavior.py
+irsim/usage/13custom_behavior/custom_behavior.yaml
+irsim/usage/13custom_behavior/custom_behavior_methods.py
 irsim/util/util.py
 irsim/world/__init__.py
 irsim/world/multi_object_base.py
@@ -74,4 +76,6 @@ irsim/world/robots/robot_acker.py
 irsim/world/robots/robot_diff.py
 irsim/world/robots/robot_omni.py
 irsim/world/sensors/lidar2d.py
-irsim/world/sensors/sensor_factory.py
+irsim/world/sensors/sensor_factory.py
+tests/test_all_objects.py
+tests/test_all_objects.yaml

{ir_sim-2.2.4 → ir_sim-2.2.6}/ir_sim.egg-info/requires.txt

@@ -5,6 +5,6 @@ pyyaml
 pynput
 imageio
 pathlib
-shapely
+shapely==2.0.6
 scikit-image
 loguru

{ir_sim-2.2.4 → ir_sim-2.2.6}/ir_sim.egg-info/top_level.txt

@@ -1,3 +1,4 @@
 dist
 doc
 irsim
+tests

ir_sim-2.2.6/irsim/__init__.py

@@ -0,0 +1,11 @@
+from .version import __version__
+from irsim.env import EnvBase
+import os
+import sys
+
+
+def make(world_name=None, **kwargs) -> EnvBase:
+
+    world_name = world_name or os.path.basename(sys.argv[0]).split(".")[0] + ".yaml"
+
+    return EnvBase(world_name, **kwargs)

{ir_sim-2.2.4 → ir_sim-2.2.6}/irsim/env/env_base.py

@@ -13,6 +13,7 @@ from .env_logger import EnvLogger
 from irsim.lib.generation import random_generate_polygon
 from shapely import Polygon
 from typing import Optional
+import importlib
 
 
 class EnvBase:
@@ -40,9 +41,6 @@ class EnvBase:
         log_level: str = "INFO",
     ) -> None:
 
-        env_config = EnvConfig(world_name)
-        object_factory = ObjectFactory()
-
         # init env setting
         self.display = display
         self.disable_all_plot = disable_all_plot
@@ -50,6 +48,9 @@ class EnvBase:
         self.logger = EnvLogger(log_file, log_level)
         env_param.logger = self.logger
 
+        env_config = EnvConfig(world_name)
+        object_factory = ObjectFactory()
+
         # init objects (world, obstacle, robot)
         self._world = world(world_name, **env_config.parse["world"])
 
@@ -90,7 +91,7 @@ class EnvBase:
 
     def __del__(self):
         print(
-            "Simulated Environment End with sim time elapsed: {} seconds".format(
+            "INFO: Simulated Environment End with sim time elapsed: {} seconds".format(
                 round(self._world.time, 2)
             )
         )
@@ -148,7 +149,7 @@ class EnvBase:
                     plt.pause(interval)
 
                 if self.save_ani:
-                    self._env_plot.save_gif_figure(**figure_kwargs)
+                    self.save_figure(save_gif=True, **figure_kwargs)
 
                 self._env_plot.clear_components("dynamic", self.objects)
                 self._env_plot.draw_components("dynamic", self.objects, **kwargs)
@@ -272,12 +273,18 @@ class EnvBase:
             **kwargs: Additional keyword arguments for saving the animation, see env_plot.save_animate() function for detail.
         """
 
+        if self.disable_all_plot:
+            return
+        
         if self.save_ani:
             self._env_plot.save_animate(**kwargs)
 
-        self.logger.info(f"Figure will be closed within {ending_time:.2f} seconds.")
-        plt.pause(ending_time)
+        if self.display: 
+            plt.pause(ending_time)
+            self.logger.info(f"Figure will be closed within {ending_time:.2f} seconds.")
+        
         plt.close()
+        
 
     def done(self, mode="all"):
         """
@@ -306,8 +313,11 @@ class EnvBase:
         """
 
         self._reset_all()
+        self.reset_plot()
+        self._world.reset()
         self.step(action=np.zeros((2, 1)))
 
+
     def _reset_all(self):
         [obj.reset() for obj in self.objects]
 
@@ -469,8 +479,37 @@ class EnvBase:
 
     # endregion: get information
 
+    def save_figure(self, save_name=None, include_index=False, save_gif=False, **kwargs):
+        """
+        Save the current figure.
+        Args:
+            save_name: Name of the file with format to save the figure.
+            **kwargs: Additional keyword arguments for saving the figure, see matplotlib.pyplot.savefig() function for detail.
+        """
+        if save_name is None:
+            save_name = self._world.name + '.png'
+
+        file_name, file_format = save_name.split('.')
+
+        self._env_plot.save_figure(file_name, file_format, include_index, save_gif, **kwargs)
+
     # region: property
 
+    def load_behavior(self, behaviors: str='behavior_methods'):
+        """
+        Load behavior parameters from the script. Please refer to the behavior_methods.py file for more details. 
+        Please make sure the python file is placed in the same folder with the implemented script.
+
+        Args:
+            behaviors (str): name of the bevavior script.
+        """
+
+        try:
+            importlib.import_module(behaviors)
+        except ImportError as e:
+            print(f"Failed to load module '{behaviors}': {e}")
+
+
     @property
     def arrive(self, id=None, mode=None):
         """

{ir_sim-2.2.4 → ir_sim-2.2.6}/irsim/env/env_config.py

@@ -1,6 +1,6 @@
 import yaml
 from irsim.util.util import file_check
-
+from irsim.global_param import env_param
 
 class EnvConfig:
     """
@@ -30,10 +30,11 @@ class EnvConfig:
                     if key in self._kwargs_parse.keys():
                         self._kwargs_parse[key] = com_list[key]
                     else:
-                        print(f"Invalid key: {key} in {world_name} file!")
+                        env_param.logger.error(f"There are invalid key: '{key}' in {world_name} file!")
+                        raise KeyError
 
         else:
-            print("File not found!")
+            env_param.logger.error(f" {world_name} YAML File not found! ")
 
     @property
     def parse(self):

{ir_sim-2.2.4 → ir_sim-2.2.6}/irsim/env/env_plot.py

@@ -8,6 +8,9 @@ import shutil
 import glob
 from math import sin, cos
 import numpy as np
+import matplotlib
+
+matplotlib.use("TkAgg")
 
 
 class EnvPlot:
@@ -23,6 +26,8 @@ class EnvPlot:
             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.
+        dpi: Dots per inch for the figure. Default is 100.
+        figure_pixels: Width and height of the figure in pixels. Default is [1920, 1080].
         kwargs: Additional options such as color_map, no_axis, and tight.
     """
 
@@ -34,13 +39,15 @@ class EnvPlot:
         y_range=[0, 10],
         saved_figure=dict(),
         saved_ani=dict(),
+        dpi: int = 100,
+        figure_pixels: list =[1920, 1080],
         **kwargs,
     ) -> None:
         """
         Initialize the EnvPlot instance.
         """
-        self.fig, self.ax = plt.subplots()
 
+        self.fig, self.ax = plt.subplots(figsize=(figure_pixels[0] / dpi, figure_pixels[1] / dpi), dpi=dpi)
         self.x_range = x_range
         self.y_range = y_range
 
@@ -56,6 +63,8 @@ class EnvPlot:
 
         self.saved_figure_kwargs = saved_figure
         self.saved_ani_kwargs = saved_ani
+        self.dpi = dpi
+        self.figure_pixels = figure_pixels
 
         self.dyna_line_list = []
         self.dyna_point_list = []
@@ -221,29 +230,38 @@ class EnvPlot:
         if refresh:
             self.dyna_line_list.append(box_line)
 
-    def save_gif_figure(self, format="png", **kwargs):
+    def save_figure(self, file_name='', file_format="png", include_index=False, save_gif=False, **kwargs):
         """
-        Save the figure for generating animation.
+        Save the current figure.
 
         Args:
-            format (str): Format of the figure. Default is 'png'.
+            file_name (str): Name of the figure. Default is ''.
+            file_format (str): Format of the figure. Default is 'png'.
             kwargs: Additional arguments for saving the figure.
                 See https://matplotlib.org/3.1.1/api/_as_gen/matplotlib.pyplot.savefig.html for details.
         """
-        fp = pm.ani_buffer_path
+
+        if save_gif:
+            fp = pm.ani_buffer_path
+        else:
+            fp = pm.fig_path
 
         if not os.path.exists(fp):
             os.makedirs(fp)
 
-        order = str(world_param.count).zfill(3)
-
-        self.saved_figure_kwargs.update({"dpi": 100, "bbox_inches": "tight"})
+        self.saved_figure_kwargs.update({"dpi": self.dpi, "bbox_inches": "tight"})
         self.saved_figure_kwargs.update(kwargs)
 
+        if include_index or save_gif:
+            order = str(world_param.count).zfill(3)
+            full_name = fp + "/" + file_name + '_' + order + "." + file_format
+        else:
+            full_name = fp + "/" + file_name + "." + file_format
+
         self.fig.savefig(
-            fp + "/" + order + "." + format, format=format, **self.saved_figure_kwargs
+            full_name, format=file_format, **self.saved_figure_kwargs
         )
-
+    
     def save_animate(
         self,
         ani_name="animation",
@@ -301,3 +319,36 @@ class EnvPlot:
         Display the plot.
         """
         plt.show()
+
+
+def linewidth_from_data_units(linewidth, axis, reference='y'):
+    """
+    Convert a linewidth in data units to linewidth in points.
+
+    Parameters
+    ----------
+    linewidth: float
+        Linewidth in data units of the respective reference-axis
+    axis: matplotlib axis
+        The axis which is used to extract the relevant transformation
+        data (data limits and size must not change afterwards)
+    reference: string
+        The axis that is taken as a reference for the data width.
+        Possible values: 'x' and 'y'. Defaults to 'y'.
+
+    Returns
+    -------
+    linewidth: float
+        Linewidth in points
+    """
+    fig = axis.get_figure()
+    if reference == 'x':
+        length = fig.bbox_inches.width * axis.get_position().width
+        value_range = np.diff(axis.get_xlim())
+    elif reference == 'y':
+        length = fig.bbox_inches.height * axis.get_position().height
+        value_range = np.diff(axis.get_ylim())
+    # Convert length to points
+    length *= 72
+    # Scale linewidth to value range
+    return linewidth * (length / value_range)

ir_sim-2.2.6/irsim/lib/behavior.py

@@ -0,0 +1,81 @@
+from math import inf
+import numpy as np
+from irsim.global_param import env_param
+import importlib
+from typing import Tuple, Any
+from .behavior_registry import behaviors_map
+
+class Behavior:
+    """
+    Represents the behavior of an agent in the simulation.
+
+    Args:
+        object_info (object): Object information from the object_base class ObjectInfo.
+        behavior_dict (dict): Dictionary containing behavior parameters for different behaviors.
+            Options include: 'dash', 'rvo'.
+    """
+
+    def __init__(self, object_info=None, behavior_dict=None) -> None:
+        """
+        Initializes the Behavior class with object information and behavior parameters.
+
+        Args:
+            object_info (object): Information about the agent.
+            behavior_dict (dict): Behavior parameters.
+        """
+        self.object_info = object_info
+        self.behavior_dict = dict() if behavior_dict is None else behavior_dict
+        self.load_behavior()
+
+    def gen_vel(self, objects):
+        """
+        Generate velocity for the agent based on the behavior dictionary.
+
+        Args:
+            objects: all the objects in the evironment
+
+        Returns:
+            np.array (2, 1): Generated velocity for the agent. 
+        """
+        
+        if self.behavior_dict is None:
+            env_param.logger.error("Behavior not defined for object {}.".format(self.object_info.id))
+            return np.zeros((2, 1))
+
+        behavior_vel = self.invoke_behavior(self.object_info.kinematics, self.behavior_dict["name"], ego_object=objects[self.object_info.id], objects=objects, **self.behavior_dict)
+
+        return behavior_vel
+
+
+    def load_behavior(self, behaviors: str='.behavior_methods'):
+        """
+        Load behavior parameters from the script.
+
+        Args:
+            behaviors (str): name of the bevavior script.
+        """
+
+        try:
+            importlib.import_module(behaviors, package='irsim.lib')
+        except ImportError as e:
+            print(f"Failed to load module '{behaviors}': {e}")
+
+
+    def invoke_behavior(self, kinematics: str, action: str, **kwargs: Any) -> Any:
+        """
+        Invoke a behavior method.
+
+        Args:
+            kinematics (str): Name of the behavior method. only support: 'diff', 'omni', 'acker'.
+            action: Name of the action method. example: 'dash', 'rvo'.
+            **kwargs: Arbitrary keyword arguments.
+
+        Returns:
+            np.array: Velocity (2x1).
+        """
+        key: Tuple[str, str] = (kinematics, action)
+        func = behaviors_map.get(key)
+        if not func:
+            raise ValueError(f"No method found for category '{kinematics}' and action '{action}'.")
+        
+        return func(**kwargs)