pamoja-sim

Noisy and replay sensors, a recording actuator, and a simulated robot that dead-reckons its pose. One capability of pamoja, one memory-safe Rust core with bindings for TypeScript, Python, and C#.

Install

pip install pamoja-sim

from pamoja import sim

This pulls in pamoja-native, the compiled engine. pip install pamoja is the whole framework in one package.

Example

The script the test suite runs, spliced here as it ran.

From bindings/python/guides/sim.py:

import asyncio

from pamoja.sim import RecordingActuator, Replay, SimulatedRobot


async def main() -> None:
    # The clear distance ahead, in meters, taken from an earlier survey run. A replay hands
    # it back one reading at a time, so the loop below sees the same input on every run: the
    # same rover code, driven by a recording rather than a range finder.
    capture = [4.0, 3.0, 1.5, 0.5]
    ahead = Replay(capture)
    throttle = RecordingActuator()
    rover = SimulatedRobot(0.5)  # each command advances the rover half a second

    seen = []
    for _ in capture:
        reading = await ahead.read()
        seen.append(reading)

        # Drive on while there is room ahead, otherwise stop and turn on the spot.
        clear = reading > 1.0
        speed = 1.0 if clear else 0.0
        turn = 0.0 if clear else 1.0
        await throttle.apply(speed)
        await rover.apply(vx=speed, omega=turn)
        print(f"{reading} m ahead, so drive at {speed} and turn at {turn}")

    # The recording actuator kept every command, which is how a test says what the control
    # loop decided rather than only what it ended up doing.
    commands = await throttle.commands()
    print(f"commands  {commands}")

    # Three half-second commands at 1 m/s reach 1.5 m along x. The last one turns on the
    # spot at 1 rad/s for half a second, which moves the rover nowhere.
    pose = await rover.pose()
    print(f"pose      x {pose.x:.1f} m, y {pose.y:.1f} m, heading {pose.theta:.1f} rad")

    return seen, commands, pose


seen, commands, pose = asyncio.run(main())

The same capability in every language

Documentation

• pamoja.sim reference, every class and function in this module.
• The Simulators guide, with the same example in Rust, TypeScript, and C#.
• Every capability, and the install page.

License

MIT