https://github.com/amazon-science/fleet2d

Fleet2D: A lightweight, 2D simulator for fast, long-term, consumer robotics applications.
https://github.com/amazon-science/fleet2d

robotics robotics-simulation simulator simulators

Last synced: about 1 month ago
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Fleet2D: A lightweight, 2D simulator for fast, long-term, consumer robotics applications.

• Host: GitHub
• URL: https://github.com/amazon-science/fleet2d
• Owner: amazon-science
• License: apache-2.0
• Created: 2023-10-31T02:14:15.000Z (about 1 year ago)
• Default Branch: main
• Last Pushed: 2024-08-07T06:23:57.000Z (5 months ago)
• Last Synced: 2024-08-22T14:57:52.197Z (4 months ago)
• Topics: robotics, robotics-simulation, simulator, simulators
• Language: Python
• Homepage: https://github.com/amazon-science/fleet2d/
• Size: 48.8 KB
• Stars: 2
• Watchers: 2
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • Contributing: CONTRIBUTING.md
  • License: LICENSE
  • Code of conduct: CODE_OF_CONDUCT.md

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README

        
# Fleet2D

Fleet2D is a simulation framework for testing long time-horizon algorithms.

## Running locally

To run Fleet2D use the following steps.

### Set up

To install Python dependencies locally run the following command:

```

pip3 install -r requirements.txt

```

### Prerequisites

Fleet2D depends on an OpenCV installation that supports both Python and C++ development. The easiest way to achieve this is usually by installing the Python OpenCV libraries (via the `requirements.txt` installation above. And then installing the same corresponding OpenCV version using your system's package manager.

For example, currently the requirement is `opencv-python~=4.6.0`, then using your distribution's package manager (e.g. `apt`, `yum`, `brew`, etc) specify version `4.6.0` of OpenCV's C++ development libraries.

Another method might be to simply build and install OpenCV from source. We've found this to be the most straightforward on MacOS.

### Build

To build locally run the following command:

```

python3 setup.py build

```

Once the command has completed compiling any C++ files that have been updated, a build directory is created. Usually this is the `build` directory in the package's root. Navigate to this directory with the following command:

```

cd build/lib\*

```

Once there, export the path for Python to be able to recognize the freshly built library:

```

export PYTHONPATH=`pwd`

```

Then go back to your original workspace directory (`cd -` should work). You're now ready to run the simulator!

### Run simulation

To run the simulation using the config file located at `src/f2d/configs/config_simple.yaml` enter the following command from the package home directory:

```

python3 src/f2d/simulation/simulation.py src/f2d/configs/config_simple.yaml

```

### Development iteration

Once set up, a typical build/run command after each code change might look like

```

python3 setup.py build && python3 src/f2d/simulation/simulation.py src/f2d/configs/config_simple.yaml

```

Or, the command could be set up in PyCharm by editing the runtime configuration and adding the appropriate path/command there.

## Security

See [CONTRIBUTING](CONTRIBUTING.md#security-issue-notifications) for more information.

## License

This project is licensed under the Apache-2.0 License.