ir-sim 2.3.2__tar.gz → 2.3.3__tar.gz

{ir_sim-2.3.2 → ir_sim-2.3.3}/PKG-INFO

@@ -1,17 +1,17 @@
 Metadata-Version: 2.2
 Name: ir-sim
-Version: 2.3.2
-Summary: Open-source, lightweight robot 2D simulator based on Python, specifically designed for intelligent robotics navigation and learning.
+Version: 2.3.3
+Summary: an open-source, lightweight robot 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.
 Author-email: Han Ruihua <hanrh@connect.hku.hk>
 Project-URL: Homepage, https://github.com/hanruihua/ir-sim
 Classifier: Programming Language :: Python :: 3
 Classifier: License :: OSI Approved :: MIT License
 Classifier: Operating System :: OS Independent
-Requires-Python: >=3.7
+Requires-Python: >=3.8
 Description-Content-Type: text/markdown
 License-File: LICENSE
-Requires-Dist: matplotlib==3.9.0
-Requires-Dist: shapely==2.0.6
+Requires-Dist: matplotlib<=3.10.0
+Requires-Dist: shapely>=2.0.3
 Requires-Dist: numpy
 Requires-Dist: pyyaml
 Requires-Dist: imageio
@@ -130,15 +130,22 @@ robot:
   color: 'g' # green
 ```
 
-
 ### Advanced Usage
 
 The advanced usages are listed in the [irsim/usage](https://github.com/hanruihua/ir-sim/tree/main/irsim/usage)
 
 ## Academic Cases
 - [rl-rvo-nav](https://github.com/hanruihua/rl_rvo_nav) (RAL & ICRA2023)
-- [RDA_planner](https://github.com/hanruihua/RDA_planner)（RAL & IROS2023）
+- [RDA_planner](https://github.com/hanruihua/RDA_planner) (RAL & IROS2023)
+
+## Contributing
+
+This project is under development. I appreciate and welcome all contributions. Just open an issue or a pull request.   Here are some simple ways to start contributing:
 
+- Enhance the website documentation, such as the API and tutorials.
+- Add new sensors, behaviors, robot models, and functional interfaces.
+- Add new usage examples and benchmarks.
+- Report bugs and issues.
 
 ## Acknowledgement
 

{ir_sim-2.3.2 → ir_sim-2.3.3}/README.md

@@ -106,15 +106,22 @@ robot:
   color: 'g' # green
 ```
 
-
 ### Advanced Usage
 
 The advanced usages are listed in the [irsim/usage](https://github.com/hanruihua/ir-sim/tree/main/irsim/usage)
 
 ## Academic Cases
 - [rl-rvo-nav](https://github.com/hanruihua/rl_rvo_nav) (RAL & ICRA2023)
-- [RDA_planner](https://github.com/hanruihua/RDA_planner)（RAL & IROS2023）
+- [RDA_planner](https://github.com/hanruihua/RDA_planner) (RAL & IROS2023)
+
+## Contributing
+
+This project is under development. I appreciate and welcome all contributions. Just open an issue or a pull request.   Here are some simple ways to start contributing:
 
+- Enhance the website documentation, such as the API and tutorials.
+- Add new sensors, behaviors, robot models, and functional interfaces.
+- Add new usage examples and benchmarks.
+- Report bugs and issues.
 
 ## Acknowledgement
 

{ir_sim-2.3.2 → ir_sim-2.3.3}/ir_sim.egg-info/PKG-INFO

@@ -1,17 +1,17 @@
 Metadata-Version: 2.2
 Name: ir-sim
-Version: 2.3.2
-Summary: Open-source, lightweight robot 2D simulator based on Python, specifically designed for intelligent robotics navigation and learning.
+Version: 2.3.3
+Summary: an open-source, lightweight robot 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.
 Author-email: Han Ruihua <hanrh@connect.hku.hk>
 Project-URL: Homepage, https://github.com/hanruihua/ir-sim
 Classifier: Programming Language :: Python :: 3
 Classifier: License :: OSI Approved :: MIT License
 Classifier: Operating System :: OS Independent
-Requires-Python: >=3.7
+Requires-Python: >=3.8
 Description-Content-Type: text/markdown
 License-File: LICENSE
-Requires-Dist: matplotlib==3.9.0
-Requires-Dist: shapely==2.0.6
+Requires-Dist: matplotlib<=3.10.0
+Requires-Dist: shapely>=2.0.3
 Requires-Dist: numpy
 Requires-Dist: pyyaml
 Requires-Dist: imageio
@@ -130,15 +130,22 @@ robot:
   color: 'g' # green
 ```
 
-
 ### Advanced Usage
 
 The advanced usages are listed in the [irsim/usage](https://github.com/hanruihua/ir-sim/tree/main/irsim/usage)
 
 ## Academic Cases
 - [rl-rvo-nav](https://github.com/hanruihua/rl_rvo_nav) (RAL & ICRA2023)
-- [RDA_planner](https://github.com/hanruihua/RDA_planner)（RAL & IROS2023）
+- [RDA_planner](https://github.com/hanruihua/RDA_planner) (RAL & IROS2023)
+
+## Contributing
+
+This project is under development. I appreciate and welcome all contributions. Just open an issue or a pull request.   Here are some simple ways to start contributing:
 
+- Enhance the website documentation, such as the API and tutorials.
+- Add new sensors, behaviors, robot models, and functional interfaces.
+- Add new usage examples and benchmarks.
+- Report bugs and issues.
 
 ## Acknowledgement
 

{ir_sim-2.3.2 → ir_sim-2.3.3}/ir_sim.egg-info/requires.txt

@@ -1,5 +1,5 @@
-matplotlib==3.9.0
-shapely==2.0.6
+matplotlib<=3.10.0
+shapely>=2.0.3
 numpy
 pyyaml
 imageio

{ir_sim-2.3.2 → ir_sim-2.3.3}/irsim/env/env_base.py

@@ -349,10 +349,10 @@ class EnvBase:
         """
 
         self._reset_all()
-        self.reset_plot()
-        self._world.reset()
         self.step(action=np.zeros((2, 1)))
-
+        self._world.reset()
+        self.reset_plot()
+        
     def _reset_all(self):
         [obj.reset() for obj in self.objects]
 
@@ -364,9 +364,10 @@ class EnvBase:
         plt.cla()
         self._env_plot.init_plot(self._world.grid_map, self.objects)
 
+
     # region: environment change
     def random_obstacle_position(
-        self, range_low=[0, 0, -3.14], range_high=[10, 10, 3.14]
+            self, range_low=[0, 0, -3.14], range_high=[10, 10, 3.14], ids=None, non_overlapping=False
     ):
         """
         Random obstacle positions in the environment.
@@ -374,21 +375,36 @@ class EnvBase:
         Args:
             range_low (list [x, y, theta]): Lower bound of the random range for the obstacle states. Default is [0, 0, -3.14].
             range_high (list [x, y, theta]): Upper bound of the random range for the obstacle states. Default is [10, 10, 3.14].
+            ids (list): A list of IDs of objects for which to set random positions. Default is None.
+            non_overlapping (bool): If set, the obstacles that will be reset to random obstacles will not overlap with other obstacles. Default is False.
         """
-
+        if ids is None:
+            ids = [obs.id for obs in self.obstacle_list]
         if isinstance(range_low, list):
             range_low = np.c_[range_low]
 
         if isinstance(range_high, list):
             range_high = np.c_[range_high]
 
-        random_states = np.random.uniform(
-            range_low, range_high, (3, self.obstacle_number)
-        )
+        selected_obs = [obs for obs in self.obstacle_list if obs.id in ids]
+        existing_obj = [obj for obj in self.objects if obj.id not in ids]
 
-        for i, obj in enumerate(self.obstacle_list):
-            obj.set_state(random_states[:, i].reshape(3, 1), init=True)
+        for obj in selected_obs:
+
+            if not non_overlapping:
+                obj.set_state(np.random.uniform(range_low, range_high, (3, 1)), init=True)
+            else:
+                counter = 0
 
+                while counter < 100:
+                    obj.set_state(np.random.uniform(range_low, range_high, (3, 1)), init=True)
+
+                    if any([obj.check_collision(exi_obj) for exi_obj in existing_obj]):
+                        counter += 1
+                    else:
+                        existing_obj.append(obj)
+                        break
+        
         self._env_plot.clear_components("all", self.obstacle_list)
         self._env_plot.draw_components("all", self.obstacle_list)
 

{ir_sim-2.3.2 → ir_sim-2.3.3}/irsim/env/env_plot.py

@@ -79,15 +79,19 @@ class EnvPlot:
             tight (bool, optional): Whether to show the axis tightly. Default is True.
         """
 
-        self.ax.set_aspect("equal")
-        self.ax.set_aspect("equal") 
+        if isinstance(self.ax, Axes3D):
+            self.ax.set_box_aspect([1, 1, 1])
+        else:
+            self.ax.set_aspect("equal")
+            self.ax.set_aspect("equal") 
+            
         self.ax.set_xlim(self.x_range)
         self.ax.set_ylim(self.y_range)
 
         self.ax.set_xlabel("x [m]")
         self.ax.set_ylabel("y [m]")
 
-        self.draw_components("static", objects)
+        self.draw_components("all", objects)
         self.draw_grid_map(grid_map)
 
         if no_axis:
@@ -306,7 +310,9 @@ class EnvPlot:
             kwargs: Additional arguments for saving the animation.
                 See `format_gif <https://imageio.readthedocs.io/en/v2.8.0/format_gif-pil.html>`_ for details.
         """
-        self.saved_ani_kwargs.update({"subrectangles": True, "loop": 0})
+        if suffix=='.gif':
+            self.saved_ani_kwargs.update({"subrectangles": True, "loop": 0})
+            
         self.saved_ani_kwargs.update(kwargs)
 
         env_param.logger.info("Start to create animation")

{ir_sim-2.3.2 → ir_sim-2.3.3}/irsim/lib/algorithm/rvo.py

@@ -372,7 +372,7 @@ class reciprocal_vel_obs:
                 2 * vel[0] - self.state[2] - moving[2],
                 2 * vel[1] - self.state[3] - moving[3],
             ]
-            vel_trans_speed = np.sqrt(vel_trans[0] ** 2 + vel_trans[1] ** 2)
+            vel_trans_speed = np.sqrt(vel_trans[0] ** 2 + vel_trans[1] ** 2) + 1e-7
 
             tc = dis_vel / vel_trans_speed
 

{ir_sim-2.3.2 → ir_sim-2.3.3}/irsim/lib/handler/kinematics_handler.py

@@ -49,7 +49,8 @@ class OmniKinematics(KinematicsHandler):
         super().__init__(name, noise, alpha)
 
     def step(self, state: np.ndarray, velocity: np.ndarray, step_time: float) -> np.ndarray:
-        next_state = omni_kinematics(state, velocity, step_time, self.noise, self.alpha)
+        next_position = omni_kinematics(state[0:2], velocity, step_time, self.noise, self.alpha)
+        next_state = np.concatenate((next_position, state[2:]))
         return next_state
 
 

{ir_sim-2.3.2 → ir_sim-2.3.3}/irsim/usage/07render_world/render.py

@@ -1,6 +1,6 @@
 import irsim
 
-env = irsim.make(save_ani=True, display=False, projection='3d')
+env = irsim.make(save_ani=True, display=False)
 
 for i in range(300):
 
@@ -10,4 +10,5 @@ for i in range(300):
     if env.done():
         break
 
-env.end(3)
+# env.end(3)
+env.end(suffix='.mp4')

{ir_sim-2.3.2 → ir_sim-2.3.3}/irsim/world/object_base.py

@@ -514,7 +514,7 @@ class ObjectBase:
 
     def mid_process(self, state):
         """
-        Process state in the middle of a step.
+        Process state in the middle of a step. Make sure the state is within the desired dimension.
 
         Args:
             state (np.ndarray): State vector.
@@ -526,10 +526,13 @@ class ObjectBase:
             state[2, 0] = WrapToRegion(state[2, 0], self.info.angle_range)
 
         if state.shape[0] < self.state_dim:
-            state = np.r_[
-                state,
-                np.zeros((self.state_dim - state.shape[0], state.shape[1])),
-            ]
+            pad_value = self.state[self.state_dim - 1, 0] if self.state.shape[0] >= self.state_dim else 0
+
+            pad_rows = self.state_dim - state.shape[0]
+            
+            padding = pad_value * np.ones((pad_rows, state.shape[1]))
+            state = np.concatenate((state, padding), axis=0)
+
         elif state.shape[0] > self.state_dim:
             state = state[: self.state_dim]
 

{ir_sim-2.3.2 → ir_sim-2.3.3}/pyproject.toml

@@ -6,25 +6,26 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "ir-sim"
-version = "2.3.2"
+version = "2.3.3"
 authors = [
   { name="Han Ruihua", email="hanrh@connect.hku.hk" },
 ]
-description = "Open-source, lightweight robot 2D simulator based on Python, specifically designed for intelligent robotics navigation and learning."
+description = "an open-source, lightweight robot 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."
 readme = "README.md"
-requires-python = ">=3.7"
+requires-python = ">=3.8"
 classifiers = [
     "Programming Language :: Python :: 3",
     "License :: OSI Approved :: MIT License",
     "Operating System :: OS Independent",
 ]
-dependencies = ['matplotlib==3.9.0',
-                'shapely==2.0.6',
-                'numpy',
-                'pyyaml',
-                'imageio',
-                'loguru',
-                'tabulate',
+dependencies = [
+    'matplotlib<=3.10.0',
+    'shapely>=2.0.3',
+    'numpy',
+    'pyyaml',
+    'imageio',
+    'loguru',
+    'tabulate',
 ]
 
 [project.optional-dependencies]
@@ -39,4 +40,4 @@ exclude = ["doc*", "tests*"]
 "*" = ["*.png", "*.yaml"]
 
 [project.urls]
-"Homepage" = "https://github.com/hanruihua/ir-sim"
+"Homepage" = "https://github.com/hanruihua/ir-sim"

{ir_sim-2.3.2 → ir_sim-2.3.3}/tests/test_all_objects.py

@@ -6,9 +6,9 @@ import matplotlib.pyplot as plt
 
 plt.close('all')
 
+
 @time_it("test_all_objects")
 def test_all_objects():
-
     env1 = irsim.make("test_collision_avoidance.yaml", save_ani=False, full=False, display=False)
 
     for i in range(50):
@@ -16,12 +16,12 @@ def test_all_objects():
         env1.render(0.01)
 
         env1.draw_trajectory(env1.robot.trajectory, show_direction=True)
-        
+
         if env1.done():
             print('done')
 
     env1.end()
-    
+
     env2 = irsim.make('test_all_objects.yaml', display=False)
 
     env2.random_polygon_shape()
@@ -42,7 +42,7 @@ def test_all_objects():
     for i in range(3):
         env3.step()
         env3.render(0.01)
-    env3.end()
+    env3.end(ani_name='test_animation')
 
     env4 = irsim.make('test_collision_world.yaml', save_ani=False, display=False)
 
@@ -95,7 +95,7 @@ def test_all_objects():
     for i in range(10):
         env8.step()
         env8.render(0.01)
-        
+
     env8.end()
 
     env9 = irsim.make('test_fov_world.yaml', save_ani=False, display=False)
@@ -104,12 +104,22 @@ def test_all_objects():
         for obs in env9.obstacle_list:
             if obs.fov_detect_object(env9.robot):
                 pass
-            
+
         env9.step()
         env9.render(0.01)
     env9.end()
 
+    env10 = irsim.make('test_multi_objects_world.yaml', save_ani=False, display=False, projection='3d')
+
+    env10.random_obstacle_position(ids=[3, 4, 5, 6, 7], non_overlapping=True)
+
+    for i in range(5):
+        env10.step()
+        env10.render(0.01)
+    env10.end()
+
     plt.close('all')
 
+
 if __name__ == "__main__":
     test_all_objects()

{ir_sim-2.3.2 → ir_sim-2.3.3}/tests/test_all_objects_3d.py

@@ -6,9 +6,9 @@ import matplotlib.pyplot as plt
 
 plt.close('all')
 
+
 @time_it("test_all_objects")
 def test_all_objects():
-
     env1 = irsim.make("test_collision_avoidance.yaml", save_ani=False, full=False, display=False, projection='3d')
 
     for i in range(50):
@@ -16,12 +16,12 @@ def test_all_objects():
         env1.render(0.01)
 
         env1.draw_trajectory(env1.robot.trajectory, show_direction=True)
-        
+
         if env1.done():
             print('done')
 
     env1.end()
-    
+
     env2 = irsim.make('test_all_objects.yaml', display=False, projection='3d')
 
     env2.random_polygon_shape()
@@ -42,7 +42,7 @@ def test_all_objects():
     for i in range(3):
         env3.step()
         env3.render(0.01)
-    env3.end()
+    env3.end(ani_name='test_animation')
 
     env4 = irsim.make('test_collision_world.yaml', save_ani=False, display=False, projection='3d')
 
@@ -95,10 +95,20 @@ def test_all_objects():
     for i in range(10):
         env8.step()
         env8.render(0.01)
-        
+
     env8.end()
 
+    env9 = irsim.make('test_multi_objects_world.yaml', save_ani=False, display=False, projection='3d')
+
+    env9.random_obstacle_position(ids=[3, 4, 5, 6, 7])
+
+    for i in range(5):
+        env9.step()
+        env9.render(0.01)
+    env9.end()
+
     plt.close('all')
 
+
 if __name__ == "__main__":
     test_all_objects()