64 update readme svg map parser pedestrian

README.md

@@ -85,6 +85,8 @@ python3 examples/demo_offensive.py
 python3 examples/demo_defensive.py
 ```
 
+[Visualization](./docs/SIM_VIEW.md)
+
 ### 6. Run StableBaselines Training (Docker)
 
 ```sh
@@ -98,6 +100,9 @@ docker compose build && docker compose run \
 
 ### 7. Edit Maps
 
+The preferred way to create maps: [SVG Editor](./docs/SVG_MAP_EDITOR.md)
+
+This Method is deprecated:
 ```sh
 sudo apt-get update && sudo apt-get install -y python3-tk
 ```
@@ -114,3 +119,19 @@ python3 -m map_editor
 docker-compose build && docker-compose run \
     robotsf-cuda python ./scripts/hparam_opt.py
 ```
+
+### 9. Extension: Pedestrian as Adversarial-Agent
+
+The pedestrian is an adversarial agent who tries to find weak points in the vehicle's policy.
+
+The Environment is built according to gymnasium rules, so that multiple RL algorithms can be used to train the pedestrian.
+
+It is important to know that the pedestrian always spawns near the robot.
+
+![demo_ped](./docs/video/demo_ped.gif)
+
+```sh
+python3 examples/demo_pedestrian.py
+```
+
+[Visualization](./docs/SIM_VIEW.md)

docs/SIM_VIEW.md

@@ -0,0 +1,23 @@
+# robot-sf
+
+## SIM VIEW
+
+### About
+
+The [sim_view.py](../robot_sf/render/sim_view.py) file manages the visualization of the simulation.\
+If you want to change the colors or display more information you have to adjust this file.
+
+### Key Events
+
+Multiple key shortcuts are implemented:
+
+- **Arrow keys**: Move camera
+- **CTRL + Arrow keys**: Move fast
+- **ALT + Arrow keys**: Move slow
+- **+**: Scale up
+- **-**: Scale down
+- **r**: Reset view
+- **f**: Focus Robot
+- **p**: Focus Pedestrian
+- **h**: Display help
+- **q**: Display information: none -> robot -> pedestrian if present -> none -> ...

docs/SVG_MAP_EDITOR.md

@@ -0,0 +1,80 @@
+# robot-sf
+
+## SVG Map Editor
+
+### About
+
+This file explains how to build a map for robot-sf using a svg-editor.
+All examples are made with [inkscape](https://inkscape.org/).
+![example](./img/inkscape_example.png)
+
+### Setup
+
+These settings should be checked before building a map.
+
+- Use **px** as global unit (File -> Document Properties)
+
+- Use absolute coordinates for your path, marked by the **M**.\
+(Edit -> Preferences -> Input/Output -> SVG Output -> Path string format -> Absolute)
+
+*Inkscape version: 1.3.2*
+
+[Further reference](https://github.com/ll7/robot_sf_ll7/issues/40)
+
+### Building the map
+
+Colours can be selected as desired, as the simulation uses its own colour scheme.
+However, it is best to remain consistent to make the map easier to understand.
+
+The most important part is setting the label. In Inkscape this can be done by double-clicking the object in the layers-and-objects list on the right side or by right-clicking the object and selecting the object properties.
+
+Use layers to make it clearer.
+
+#### Obstacles
+
+Obstacles should be avoided by the vehicle and the pedestrians.\
+Draw them by using the rectangle tool.\
+Set the label to **obstacle**
+
+[Obstacle Issue](https://github.com/ll7/robot_sf_ll7/issues/55)
+
+#### Robot
+
+The robot needs a spawn zone to define his starting position and a goal zone he needs to reach to finish the episode.\
+Multiple zones can be used.\
+Draw them by using the rectangle tool.\
+Set the labels to **robot_spawn_zone** and **robot_goal_zone**
+
+The robot path defines the route the robot takes, while reaching the goal zone.\
+Use the pen tool for this and perform multiple left clicks to set waypoints along the path.\
+The path should not start or end inside the spawn/goal zone, but just before it.\
+Set the label to **robot_route_\<spawn\>_\<goal\>**
+
+(e.g. robot_route_1_0 -> Using Spawn 1 and Goal 0.\
+The zone numbers are counted from bottom to top in the list on the right-hand side)
+
+#### NPC Pedestrians
+
+The Pedestrians also need a spawn/goal zone. If they reach the goal they will spawn again at the start\
+Set the labels to **ped_spawn_zone** and **ped_goal_zone**
+
+For the path you don't need to set specific waypoints, just make sure the path doesn't collide with an obstacle.\
+Set the label to **ped_route_\<spawn\>_\<goal\>**
+
+### Colours
+
+Colours used in the example map:
+
+- obstacle: #000000
+- robot_spawn_zone: #ffdf00
+- robot_goal_zone: #ff6c00
+- robot_route: #0300d5 and #0078d5
+- ped_spawn_zone: #23ff00
+- ped_goal_zone: #107400
+- ped_route: #c40202
+
+The colours for the simulation can be found here: [sim_view.py](../robot_sf/render/sim_view.py)
+
+### New Features
+
+If you want to implement new features: [svg_map_parser.py](../robot_sf/nav/svg_map_parser.py)