update examples with ir-sim v2.2.3

RDA_planner/mpc.py

@@ -270,9 +270,9 @@ def motion_predict_model_omni(self, robot_state, vel, sample_time):
         vx = vel[0, 0] * cos(vel[1, 0])
         vy = vel[0, 0] * sin(vel[1, 0])
         omni_vel = np.array([[vx], [vy], [0]])
+        # omni_vel = np.array([[vx], [vy]])
 
         next_state = robot_state + sample_time * omni_vel
-
         # ds = np.row_stack((vel, [0]))
         # next_state = robot_state + sample_time * ds
 

README.md

@@ -48,7 +48,7 @@ pip install -e .
 **Dynamic obstacles avoidance (example/dynamic_obs.py)** | <img src="example\dynamic_obs\animation\dynamic_obs1.gif" width="300" /> |  <img src="example\dynamic_obs\animation\dynamic_obs2.gif" width="300" />
 |:-------------------------:|:-------------------------:|:-------------------------:|
 
-**Note:** You can customize the scenario by modifying the parameters in the corresponding yaml file as introduced in [ir_sim](https://github.com/hanruihua/ir_sim). For the polygon obstacles, please make sure the obstacles are convex (CCW order is not necessary now).
+**Note:** You can customize the scenario by modifying the parameters in the corresponding yaml file as introduced in [ir-sim](https://github.com/hanruihua/ir-sim). For the polygon obstacles, please make sure the obstacles are convex (CCW order is not necessary now).
 
 
 ## Citation

example/corridor/corridor.py

@@ -1,4 +1,4 @@
-from ir_sim.env import EnvBase
+from irsim.env import EnvBase
 import numpy as np
 from RDA_planner.mpc import MPC
 from collections import namedtuple

example/corridor/corridor_diff.py

@@ -1,4 +1,4 @@
-from ir_sim.env import EnvBase
+from irsim.env import EnvBase
 import numpy as np
 from RDA_planner.mpc import MPC
 from collections import namedtuple

example/corridor/corridor_omni.py

@@ -1,4 +1,4 @@
-from ir_sim.env import EnvBase
+from irsim.env import EnvBase
 import numpy as np
 from RDA_planner.mpc import MPC
 from collections import namedtuple

example/corridor/corridor_omni.yaml

@@ -9,6 +9,7 @@ world:
 
 robot:
   - kinematics: {name: 'omni'} 
+    state_dim: 3
     shape: {name: 'rectangle', length: 3.0, width: 1.6, wheelbase: 0}
     state: [0, 20, 0] 
     goal: [60, 20, 0] 

example/dynamic_obs/dynamic_obs.py

@@ -2,7 +2,7 @@
 import time
 from collections import namedtuple
 import numpy as np
-from ir_sim.env import EnvBase
+from irsim.env import EnvBase
 from RDA_planner.mpc import MPC
 
 # environment
@@ -27,7 +27,7 @@ def main():
         opt_vel, info = mpc_opt.control(env.robot.state, 6, obs_list)
         env.draw_trajectory(info['opt_state_list'], 'r', refresh=True)
 
-        env.step(opt_vel, stop=False)
+        env.step(opt_vel)
         env.render(show_traj=True)
 
         if env.done():

example/dynamic_obs/dynamic_obs_diff.py

@@ -2,7 +2,7 @@
 import time
 from collections import namedtuple
 import numpy as np
-from ir_sim.env import EnvBase
+from irsim.env import EnvBase
 from RDA_planner.mpc import MPC
 
 # environment
@@ -27,7 +27,7 @@ def main():
         opt_vel, info = mpc_opt.control(env.robot.state, 6, obs_list)
         env.draw_trajectory(info['opt_state_list'], 'r', refresh=True)
 
-        env.step(opt_vel, stop=False)
+        env.step(opt_vel)
         env.render(show_traj=True)
 
         if env.done():

example/dynamic_obs/dynamic_obs_omni.py

@@ -2,7 +2,7 @@
 import time
 from collections import namedtuple
 import numpy as np
-from ir_sim.env import EnvBase
+from irsim.env import EnvBase
 from RDA_planner.mpc import MPC
 from math import cos, sin
 

example/dynamic_obs/dynamic_obs_omni.yaml

@@ -10,6 +10,7 @@ world:
 
 robot:
   - kinematics: {name: 'omni'} 
+    state_dim: 3
     shape: {name: 'rectangle', length: 3.0, width: 1.6, wheelbase: 0}
     state: [10, 40, 1.57] 
     goal: [40, 40, 0] 

example/lidar_nav/lidar_path_track.py

@@ -1,4 +1,4 @@
-from ir_sim.env import EnvBase
+from irsim.env import EnvBase
 import sys
 import numpy as np
 from RDA_planner.mpc import MPC
@@ -82,7 +82,7 @@ def main():
         opt_vel, info = mpc_opt.control(env.robot.state, 4, obs_list)
         env.draw_trajectory(info['opt_state_list'], 'r', refresh=True)
 
-        env.step(opt_vel, stop=False)
+        env.step(opt_vel)
         env.render(show_traj=True, show_trail=True)
 
         if env.done():

example/lidar_nav/lidar_path_track_diff.py

@@ -1,4 +1,4 @@
-from ir_sim.env import EnvBase
+from irsim.env import EnvBase
 import sys
 import numpy as np
 from RDA_planner.mpc import MPC

example/lidar_nav/lidar_path_track_omni.py

@@ -1,4 +1,4 @@
-from ir_sim.env import EnvBase
+from irsim.env import EnvBase
 import sys
 import numpy as np
 from RDA_planner.mpc import MPC

example/lidar_nav/lidar_path_track_omni.yaml

@@ -9,6 +9,7 @@ world:
 
 robot:
   - kinematics: {name: 'omni'} 
+    state_dim: 3
     shape: {name: 'rectangle', length: 3.0, width: 1.6, wheelbase: 0}
     state: [10, 40, 1.57] 
     goal: [40, 40, 0] 

example/path_track/path_track.py

@@ -1,4 +1,4 @@
-from ir_sim.env import EnvBase
+from irsim.env import EnvBase
 import sys
 import numpy as np
 from RDA_planner.mpc import MPC

example/path_track/path_track_diff.py

@@ -1,4 +1,4 @@
-from ir_sim.env import EnvBase
+from irsim.env import EnvBase
 import sys
 import numpy as np
 from RDA_planner.mpc import MPC
@@ -30,7 +30,7 @@ def main():
 
         env.draw_trajectory(info['opt_state_list'], 'r', refresh=True)
 
-        env.step(opt_vel, stop=False)
+        env.step(opt_vel)
         env.render(show_traj=True, show_trail=True)
 
         if env.done():

example/path_track/path_track_omni.py

@@ -1,4 +1,4 @@
-from ir_sim.env import EnvBase
+from irsim.env import EnvBase
 import sys
 import numpy as np
 from RDA_planner.mpc import MPC
@@ -36,7 +36,7 @@ def main():
         vy = opt_vel[0, 0] * sin(opt_vel[1, 0])
         omni_vel = np.array([[vx], [vy]])
 
-        env.step(omni_vel, stop=False)
+        env.step(omni_vel)
         # env.step(opt_vel, stop=False)
 
         env.render(show_traj=True, show_trail=True)

example/path_track/path_track_omni.yaml

@@ -8,7 +8,8 @@ world:
   control_mode: 'auto'  # 'keyboard', 'auto'
 
 robot:
-  - kinematics: {name: 'omni'} 
+  - kinematics: {name: 'omni'}
+    state_dim: 3
     shape: {name: 'rectangle', length: 3.0, width: 1.6, wheelbase: 0}
     state: [10, 42, 0] 
     goal: [40, 40, 0] 

example/reverse/reverse.py

@@ -1,4 +1,4 @@
-from ir_sim.env import EnvBase
+from irsim.env import EnvBase
 import numpy as np
 from RDA_planner.mpc import MPC
 from collections import namedtuple
@@ -37,7 +37,7 @@
 
         env.draw_trajectory(info['opt_state_list'], 'r', refresh=True)
 
-        env.step(opt_vel, stop=False)
+        env.step(opt_vel)
         env.render(0.01, show_traj=True, show_trail=True)
         # env.render(0.1, show_traj=True)
 

example/reverse/reverse_diff.py

@@ -1,4 +1,4 @@
-from ir_sim.env import EnvBase
+from irsim.env import EnvBase
 import numpy as np
 from RDA_planner.mpc import MPC
 from collections import namedtuple
@@ -37,7 +37,7 @@
 
         env.draw_trajectory(info['opt_state_list'], 'r', refresh=True)
 
-        env.step(opt_vel, stop=False)
+        env.step(opt_vel)
         env.render(0.01, show_traj=True, show_trail=True)
         # env.render(0.1, show_traj=True)
 

setup.py

@@ -9,7 +9,7 @@
         'cvxpy==1.5.2',
         'numpy',
         'pathos',
-        'ir_sim==2.1.2',
+        'ir-sim==2.2.3',
         'matplotlib',
         'gctl==1.1',
         'opencv-python',