API Reference#

Welcome to the IR-SIM API Reference. This section provides detailed documentation for all modules, classes, and functions in the IR-SIM package.

Core simulation loop#

The handful of entry points you will use most; everything else is reachable from the modules below.

  • irsim.make(): create an environment from a YAML scenario.

  • step(): advance the simulation by one step.

  • render(): draw the current state.

  • done(): check whether a terminal condition is reached.

  • reset(): restore objects to their initial states.

  • end(): close the environment and release resources.

  • get_robot_state(): read the primary robot’s state.

  • get_lidar_scan(): read a robot’s LiDAR scan.

How to read this reference#

The API pages below are generated from the Python package with AutoAPI. Start from the high-level entry points when writing simulations, and use the lower level modules when extending IR-SIM itself.

Task

Main API

Notes

Create and run environments

irsim.make(), EnvBase

Preferred public entry points for most users.

Inspect or control objects

ObjectBase

Common base for robots, obstacles, and map objects.

Create objects from YAML

ObjectFactory

Used internally by the YAML loader; useful for advanced programmatic setup.

Add kinematics models

register_kinematics(), KinematicsHandler

Register models under the same names used by YAML kinematics.

Add object geometry

GeometryFactory

Converts YAML shape dictionaries into Shapely geometries.

Add sensors

SensorFactory

Creates concrete sensors from YAML sensors entries.

Use path planners

irsim.lib.path_planners

Grid and sampling planners operate on EnvGridMap.

Generated pages may include inherited members so that re-exported public APIs are still discoverable. When defaults differ between YAML configuration and a lower-level constructor, the YAML reference documents the YAML behavior, while the API reference documents the direct Python constructor behavior.

API Documentation