{
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        "author": "Lukasz Zmudzinski",
        "author_email": "lukasz@zmudzinski.me",
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            "License :: OSI Approved :: MIT License",
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            "Programming Language :: Python :: 3"
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        "description": "![Under construction](https://img.shields.io/badge/stage-under%20construction-blue.svg)\n![PyPI](https://img.shields.io/pypi/v/robosim.svg)\n![license](https://img.shields.io/github/license/lukzmu/robosim.svg)\n[![Beerpay](https://beerpay.io/lukzmu/robosim/badge.svg?style=flat)](https://beerpay.io/lukzmu/robosim)\n\n# RoboSim\n\n`RoboSim` is a Python 3.6 based simulator for Robotics. I wrote it to test out my PhD AI algorithms and produce paper-ready result images in random mapping environments. The simulator uses `pygame`to present realtime results for robot navigation.\n\n**This project is still under construction, so you might have missing features or bugs.<br/> Please submit issues when that happens.**\n\n##### Features:\n\n- [x] Create randomly generated map,\n- [x] Create paths,\n- [x] Create robots,\n- [x] Run simulation,\n- [ ] Realistic PID controller movement,\n- [ ] Collisions,\n- [ ] Nice looking UI,\n- [ ] Statistics panel,\n- [ ] Sensor simulation,\n- And more... when I think of something else.\n\n## Installation\n\nRoboSim is now available on `pip`, so you just need to run the following command in your command line:\n\n```\npip install robosim\n```\n\n##### Requirements\n\n- `pygame 1.9.3` (didn't test on other).\n\n\n## Using RoboSim\n\n### Map\n\nMap generation is done using the [Random Walk algorithm](https://en.wikipedia.org/wiki/Random_walk).To generate a new map, you need to create a new `Map` object by writing the following code:\n\n```python\nfrom robosim import Map\nmap = Map()\n```\n\nYou can pass the following parameters in the constructor:\n\n- `dimensions` (tuple, default `(32,24)`),\n- `tunnels` (int, default `300`),\n- `tunnel_length` (int, default `10`).\n\nOnce you create the object, the `__generate_map()` function is called, and you can access the 2D-array by using the `generated_map` parameter:\n\n```python\nmap = Map()\nmy_awesome_map_array = map.generated_map\n```\n\nEach map object, has its own map, so you can test out your algorithm on various maps at a time. Below you can see a sample output of the generated map, where `0` mean that the space is used for navigation and `1` that an obstacle is placed there.\n\n```\n[\n    [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], \n    [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], \n    [0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], \n    [0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1], \n    [0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1], \n    [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 1, 1, 1, 1], \n    [0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 0, 1, 0, 1, 1], \n    [0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 1, 1, 1, 0, 0, 0, 1, 1], \n    [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 1, 0, 1, 1], \n    [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 1, 0, 1, 1], \n    [1, 0, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 1, 1], \n    [1, 0, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 1, 1], \n    [1, 0, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 1]\n]\n```\n\n### RoboSim\n\nTo run the application, you need to create a `RoboSim` object first:\n\n```python\nfrom robosim import Map, RoboSim\n\n# Create the map\nmap = Map()\n\n# Initialize the simulation\nsim = RoboSim(map)\nsim.run()\n```\n\nThe `RoboSim` **requires** the map object as a parameter, but there are also other optional parameters you can add:\n\n- `debug` (boolean) - let's the simulator know, if you want to \"click out\" the paths,\n- `multipath` (boolean) - allows creating multiple paths in debug mode.\n\nTo start the simulation you need to use the `run()` method. The optional parameters are:\n\n- `title` - sets the window title,\n- `size_mult` - drawing size for obstacles (default `20` pixels).\n\nThe `run()` method, runs the pygame code on a thread, so you can easily start multiple simulations at once.\n\n### Controls\n\nFor now  the simulator doesn't have an UI that will allow you to manipulate what is happening. Here is the key list that are used with a description:\n\n| Key | Mode | Description |\n| :-- | :-- | :-- |\n| `Left click` | Normal | Adds start and goal |\n| `Left click` | Debug | Adds path point |\n| `Right click` | Debug | Creates robot |\n| `1` | All | Starts robot movement |\n| `2` | All | Pauses robot movement |\n| `3` | All | Takes screenthos `NYI` |\n| `4` | All | Start/Stop recording `NYI` |\n\n\n\n",
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