todo_list.md

IR-SIM Todo List

🎯 Core Framework

• Basic framework
• Mobile robot movement
• Collision check
• Multi robots mode (collision)
• Reformulate obstacles and robots by Object class
• Construct the object base class for the robot and obstacles
• Rearrange the framework of obstacles
• Add function to construct obstacle and robot
• Attribute of the obstacles and robots
• Formulate the geometry tree for the collision check
• 3D space
• Add transformation (like ROS tf)
• Plugin system
• template for custom robots, sensor..

Reinforcement Learning Project Support

• Make the env vectorized to support large scale reinforcement learning in parallel (e.g. gymnasium)

🤖 Robot & Movement

• Omni directional robots
• Add custom robot model
• Robot description
• Check the dimension of various values and fix the input error, such as state dim, velocity dim
• Provide polygon shape robot
• Reformulate the behavior library
• 3D rigid body
• Robotics arm, UAV support
• Real robot description

📡 Sensors & Data

• Sensor lidar
• Add sensor: gps, odometry
• Add noise (diff)
• Develop Tools for tackling Data. Add the data monitor for performance analysis (jerks, acceleration, etc.).
• Record and replay path
• GPS sensor support (state with noise)

🗺️ Environment & Obstacles

• Line obstacle
• Map obstacle
• Add functions to access obstacles with different types
• Support the feature of adding or eliminating obstacles by functions
• Add binary occupancy grid map for indoor navigation
• Check whether the object is convex
• Develop a lib for configuration of the shape, refer to rviz marker
• Add functions to access obstacles with different types (refinement needed)
• Use scipy convex hull to generate G and h

🎨 Visualization & Plotting

• GIF generation
• Add subplot
• 3D visualization
• Show the text of the object
• Draw points
• Reformulate plot function - Transform-based plotting architecture
• FOV transform fixes for proper field of view visualization
• Lidar2D plotting with matplotlib transforms
• 3D plotting fixes for patches, lines, and other elements
• Consistent plotting API with state/vertices parameters
• Add GUI for the windows
• Academic Color Map
• Add subwindows for the visulization
• Add appearance file for the plot
• Refine plot function with collection of elements
• Draw error band (uncertainty) https://matplotlib.org/stable/gallery/lines_bars_and_markers/curve_error_band.html

🔧 System & Performance

• Add collision mode
• Add regular event for other obstacles or robots
• Private and public methods and parameters in class
• Add the env logger
• Make the dependency of the package optional
• Env reset function
• Collision check with discrete samples
• Add more key functions for keyboard control (esc, space, r, l, x)
• Assign robot goals by mouse click
• Add reload function for the environment
• moving view of robots.
• Using decorator for function input checking
• Add synchronization and asynchronization mode
• Multi-process for large scale simulation
• Make multiple env instances
• accelerate the simulation (collision check, kinematics, etc.) by numba/c++
• Complete the reactive collision mode
• YAML schema validation with clear error messages and defaults.

🧪 Testing & Quality

• Pytest
• Organize the test cases
• Improve coverage of the code over 90%
• reduce the dependency of the package
• using uv to manage and format the dependency and project
• Improve coverage of the code over 99%

📚 Documentation & Examples

• Documentation
• Code annotation for main class
• Add comments for the functions
• Add example yaml files
• Default yaml name (same as python file)
• Reorganize the structure of the readme demonstration
• Argument type hint
• Doc Noise world
• Refine documentation and the comment of the code function.
• Doc of status; title; keyboard space
• New style of documentation
• Add tutorial with more examples.
• Doc path manager and change the path
• Generate Logo
• Chinese version

🔗 External Interfaces

• Add the interface with gym
• Add the interface with ROS
• Add the interface with Pybullet, Gazebo, Carla
• Add the interface with opendrive
• Add the interface with URDF file

🧠 Advanced Features

• Add wrapper for ORCA algorithm
• Add various navigation algorithms implemented on the ir-sim
• Modular yaml import so that ir-sim can read the yaml file separately
• Add more behaviors for the objects (orca, pure pursuit, etc.)
• Benchmark suites with standardized metrics and scoring scripts.

🚗 Scenarios & Applications

• Make_scenarios to generate some common scenarios to test, such as car_racing, maze, traffic (Maze generator)
• Traffic scenarios (Traffic generator)
• Maze scenarios (Maze generator)
• Test Scenario for the different robot models and planners: pursue and evade, follow, etc.

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