Quick Start#

This example runs a differential-drive robot from a start pose to a goal. Before continuing, install IR-SIM and verify that it imports successfully.

  1. Create a Python file named quick_start.py:

import irsim

env = irsim.make("robot_world.yaml")

for _ in range(300):
    env.step()
    env.render()

    if env.done():
        break

env.end()

  1. In the same directory, create robot_world.yaml:

The YAML file describes the world and robot. Change these values later to customize the scene.

world:
  height: 10
  width: 10
  step_time: 0.1
  sample_time: 0.1
  offset: [0, 0]

robot:
  kinematics: {name: diff}
  shape: {name: circle, radius: 0.2}
  state: [1, 1, 0]
  goal: [9, 9, 0]
  behavior: {name: dash}
  color: g
  plot:
    show_trajectory: true
    show_goal: true

  1. Run the Python file from that directory:

python quick_start.py

Run the script and a window opens showing the differential-drive robot navigating from its start to the goal:

Quick-start simulation: a differential-drive robot navigating to its goal

The loop advances the simulation by 0.1 seconds per step, renders the latest state, and stops early when the environment reports that it is done. For a server or batch job, create the environment with display=False and omit the env.render() call.

Next steps#