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Merge pull request #2 from sventarika/main
Added ClosedLoop Simulation Config
2 parents 53a4734 + 3e66d1e commit cb87172

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‎.devcontainer/devcontainer.json‎

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// For format details, see https://aka.ms/devcontainer.json. For config options, see the README at:
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// https://github.com/microsoft/vscode-dev-containers/tree/v0.245.2/containers/docker-existing-dockerfile
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{
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"name": "simple-simulation",
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"build": {"dockerfile": "../Dockerfile"},
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"runArgs": [
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"--net=host"
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],
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"workspaceMount": "source=${localWorkspaceFolder},target=/work/develop/simple-simulation,type=bind",
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"workspaceFolder": "/work/develop/simple-simulation",
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"customizations": {
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"vscode": {
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"extensions": [
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"ms-python.python",
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"ms-python.vscode-pylance",
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"ms-python.debugpy",
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"eamodio.gitlens",
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"mhutchie.git-graph",
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"mechatroner.rainbow-csv",
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"analytic-signal.preview-mp4",
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"tamasfe.even-better-toml",
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"charliermarsh.ruff"
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],
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"settings": {
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"python.defaultInterpreterPath": "/work/develop/simple-simulation/.venv/bin/python",
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"python.testing.pytestEnabled": true,
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"python.testing.unittestEnabled": false,
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"python.testing.pytestArgs": [
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"test"
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],
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"python.analysis.extraPaths": [
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"/work/simple-simulation"
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],
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"[python]": {
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"editor.formatOnSave": true,
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"editor.codeActionsOnSave": {
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"source.organizeImports": "explicit",
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"source.fixAll": "explicit"
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}
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},
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"ruff.enable": true,
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"ruff.lint.enable": true,
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"files.watcherExclude": {
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"**/.venv/**": true,
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"**/__pycache__/**": true
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}
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}
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}
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},
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"postCreateCommand": "uv sync --dev",
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"remoteUser": "root"
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}

‎.dockerignore‎

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# Python
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__pycache__/
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*.py[cod]
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*$py.class
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*.so
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.Python
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.venv/
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venv/
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ENV/
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env/
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*.egg-info/
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dist/
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build/
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# Test and coverage
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.pytest_cache/
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.coverage
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htmlcov/
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.tox/
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# Results and output
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results/
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*.mp4
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*.gif
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# Git
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.git/
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.gitignore
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# IDE
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.vscode/
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.idea/
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*.swp
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*.swo
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*~
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# OS
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.DS_Store
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Thumbs.db
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# DevContainer
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.devcontainer/

‎.gitlab-ci.yml‎

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image:
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name: ubuntu:24.04
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stages:
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- lint
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- test
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- package
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- deploy
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lint:
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stage: lint
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image: ubuntu:24.04
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before_script:
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- apt-get update && apt-get install -y curl build-essential clang
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- curl -LsSf https://astral.sh/uv/install.sh | sh
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test:
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stage: test
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image: ubuntu:24.04
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before_script:
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- apt-get update && apt-get install -y curl build-essential clang
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- curl -LsSf https://astral.sh/uv/install.sh | sh
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package:
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stage: package
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image: ubuntu:24.04
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only:
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- tags
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before_script:
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- uv run -m build
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- TWINE_PASSWORD=${CI_JOB_TOKEN} TWINE_USERNAME=gitlab-ci-token uv run -m twine upload --verbose --repository-url ${CI_API_V4_URL}/projects/${CI_PROJECT_ID}/packages/pypi dist/*
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rules:
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# deploy:
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# #Build the docker container and push to registry
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# stage: deploy
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# image: docker:28.5.2-cli
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# services:
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# - name: docker:28.5.2-dind
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# script:
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# - docker build -t $CI_REGISTRY_IMAGE:latest .
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# - docker login -u $CI_REGISTRY_USER -p $CI_REGISTRY_PASSWORD $CI_REGISTRY
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# - docker push $CI_REGISTRY_IMAGE:latest
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# rules:
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# - if: '$CI_COMMIT_BRANCH == "main"'

‎Dockerfile‎

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FROM ubuntu:24.04
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# Prevent interactive prompts during package installation
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ENV DEBIAN_FRONTEND=noninteractive
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RUN apt-get update && \
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apt-get install -y \
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# Python and build tools
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python3 \
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python3-pip \
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python3-dev \
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python3-venv \
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git \
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build-essential \
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# OpenCV dependencies
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libgl1 \
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libglib2.0-0
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# Install uv for Python package management
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RUN pip3 install --no-cache-dir uv --break-system-packages
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# Set up environment variables
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ENV PYTHONPATH=/work/simple-simulation
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# Create working directory
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RUN mkdir -p /work/simple-simulation
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WORKDIR /work/simple-simulation
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COPY . /work/simple-simulation/
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RUN cd /work/simple-simulation && uv sync
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# Default command
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CMD ["/bin/bash"]

‎README.md‎

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# Examples
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:bulb: *To recreate these videos use: [examples/generate_simulation_run_videos.py](https://github.com/ika-rwth-aachen/simple-simulation/blob/main/examples/generate_simulation_run_videos.py).*
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:bulb: *To recreate these videos use: `examples/generate_simulation_run_videos.py`.*
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## Free driving test scenario
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[`examples/example_scenario0.json`](https://github.com/ika-rwth-aachen/simple-simulation/blob/main/examples/example_scenario0.json)
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`examples/example_scenario0.json`
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Test scenario:
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<img src="https://raw.githubusercontent.com/ika-rwth-aachen/simple-simulation/refs/heads/main/assets/example_scenario0.gif" />
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<img src="assets/example_scenario0.gif">
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Simulation run:
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<img src="https://raw.githubusercontent.com/ika-rwth-aachen/simple-simulation/refs/heads/main/assets/example_scenario0_simulation_run.gif" />
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<img src="assets/example_scenario0_simulation_run.gif">
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Result: `is_goal_reached`
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## Deceleration test scenario
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[`examples/example_scenario1.json`](https://github.com/ika-rwth-aachen/simple-simulation/blob/main/examples/example_scenario1.json)
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`examples/example_scenario1.json`
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Test scenario:
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<img src="https://raw.githubusercontent.com/ika-rwth-aachen/simple-simulation/refs/heads/main/assets/example_scenario1.gif" />
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<img src="assets/example_scenario1.gif">
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Simulation run:
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<img src="https://raw.githubusercontent.com/ika-rwth-aachen/simple-simulation/refs/heads/main/assets/example_scenario1_simulation_run.gif" />
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<img src="assets/example_scenario1_simulation_run.gif">
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Result: `is_standstill`
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## Cut-in test scenario
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[`examples/example_scenario2.json`](https://github.com/ika-rwth-aachen/simple-simulation/blob/main/examples/example_scenario2.json)
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`examples/example_scenario2.json`
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<img src="https://raw.githubusercontent.com/ika-rwth-aachen/simple-simulation/refs/heads/main/assets/example_scenario2.gif" />
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<img src="assets/example_scenario2.gif">
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Simulation run:
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<img src="https://raw.githubusercontent.com/ika-rwth-aachen/simple-simulation/refs/heads/main/assets/example_scenario2_simulation_run.gif" />
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<img src="assets/example_scenario2_simulation_run.gif">
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Result: `is_collision`
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This package is developed as part of the [Hi-Drive project](https://www.hi-drive.eu).
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<img src="https://raw.githubusercontent.com/ika-rwth-aachen/simple-simulation/refs/heads/main/assets/Hi_Drive_Logo_Claim_rgb.svg" style="width:2in" />
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<!-- <img src="https://raw.githubusercontent.com/ika-rwth-aachen/simple-simulation/refs/heads/main/assets/Hi_Drive_Logo_Claim_rgb.svg" style="width:2in" /> -->
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<img src="assets/Hi_Drive_Logo_Claim_rgb.svg" style="width:2in" />
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The research leading to these results has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement No 101006664.
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The sole responsibility of this publication lies with the authors.
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The authors would like to thank all partners within the Hi-Drive project (hi-drive.eu) for their cooperation and valuable contribution.
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<img src="https://raw.githubusercontent.com/ika-rwth-aachen/simple-simulation/refs/heads/main/assets/funded_by_eu.svg" style="width:4in" />
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<!-- <img src="https://raw.githubusercontent.com/ika-rwth-aachen/simple-simulation/refs/heads/main/assets/funded_by_eu.svg" style="width:4in" /> -->
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<img src="assets/funded_by_eu.svg" style="width:4in" />
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Additional development is done within the [SYNERGIES project](https://synergies-ccam.eu/).
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<img src="assets/synergies.svg" style="width:4in" />

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