RAWSim-O MVP - Python

🤖 A simplified Python implementation of RAWSim-O - Robotic Mobile Fulfillment System (RMFS) Simulator with real-time 2D/3D visualization.

Original Project: merschformann/RAWSim-O (C# .NET)

This is a minimal viable product (MVP) version built with Python, focusing on core warehouse robot simulation with interactive visualization.

🎯 Features

✅ Core Simulation Engine - Discrete event-based simulation with time management

✅ Robot/Bot Management - Autonomous robots that navigate and carry pods

✅ Pod & Item System - Storage pods with inventory tracking

✅ Waypoint Navigation - Grid-based pathfinding system

✅ Input/Output Stations - Item receiving and order fulfillment stations

✅ Real-time 2D Visualization - Interactive Pygame-based top-down view

✅ 3D Visualization - Matplotlib 3D warehouse visualization

✅ Statistics Tracking - Performance metrics and throughput analysis

📦 Installation

Prerequisites

• Python 3.8+
• pip package manager

Install Dependencies

pip install -r requirements.txt

🚀 Quick Start

Run 2D Simulation (Interactive)

python main.py --mode 2d

Run 3D Visualization

python main.py --mode 3d

Run Both (Default)

python main.py

Custom Configuration

python main.py --config configs/warehouse_config.json --duration 300

🎮 Controls (2D Mode)

• SPACE - Pause/Resume simulation
• R - Reset simulation
• +/- - Speed up/slow down
• S - Show/hide statistics
• ESC - Exit

🏗️ Project Structure

RAWSim-O-MVP-Python/
├── core/
│   ├── __init__.py
│   ├── instance.py          # Main simulation instance
│   ├── bot.py              # Robot/Bot implementation
│   ├── pod.py              # Storage pod
│   ├── waypoint.py         # Navigation waypoints
│   ├── station.py          # Input/Output stations
│   ├── simulator.py        # Simulation executor
│   └── pathfinding.py      # A* pathfinding algorithm
├── visualization/
│   ├── __init__.py
│   ├── renderer_2d.py      # Pygame 2D renderer
│   └── renderer_3d.py      # Matplotlib 3D renderer
├── configs/
│   └── warehouse_config.json  # Default configuration
├── main.py                 # Main entry point
├── requirements.txt        # Python dependencies
└── README.md              # This file

⚙️ Configuration

Edit configs/warehouse_config.json to customize:

{
  "warehouse": {
    "width": 30,
    "height": 20,
    "pod_storage_rows": 5
  },
  "robots": {
    "count": 8,
    "speed": 2.0,
    "capacity": 1
  },
  "pods": {
    "count": 40,
    "capacity": 100.0
  },
  "stations": {
    "input_count": 2,
    "output_count": 2
  },
  "simulation": {
    "duration": 300,
    "warmup_time": 10,
    "time_step": 0.1
  }
}

📊 Example Output

=== RAWSim-O MVP - Warehouse Robot Simulation ===
Starting simulation...

Warehouse Layout: 30x20 grid
Robots: 8
Pods: 40
Input Stations: 2
Output Stations: 2

>>> Warming up (10.0s)...
>>> Warmup complete!
>>> Running simulation (300.0s)...

=== Simulation Statistics ===
Total Time: 300.00s
Orders Completed: 156
Items Picked: 487
Average Robot Utilization: 73.2%
Average Order Completion Time: 18.4s

🎥 Demo

2D View (Pygame)

• Green rectangles: Robots (idle)
• Red rectangles: Robots carrying pods
• Blue circles: Pods at storage
• Yellow squares: Input stations
• Purple squares: Output stations
• Gray dots: Waypoints

3D View (Matplotlib)

• Interactive 3D warehouse visualization
• Rotate/zoom with mouse
• Real-time robot and pod positions

🔬 How It Works

1. Warehouse Generation: Creates a grid-based warehouse with waypoints, storage locations, and stations
2. Robot Initialization: Spawns robots at starting positions
3. Order Generation: Creates random orders for items
4. Task Assignment: Assigns robots to fetch pods containing requested items
5. Pathfinding: Robots use A* algorithm to navigate collision-free
6. Order Fulfillment: Robots deliver pods to output stations for picking
7. Pod Return: After picking, robots return pods to storage

📝 Differences from Original RAWSim-O

Feature	Original (C#)	This MVP (Python)
Language	C# .NET 6.0	Python 3.8+
Visualization	WPF/Helix 3D	Pygame + Matplotlib
Pathfinding	Multi-Agent (WHCA*, CBS)	Simple A*
Controllers	Pluggable framework	Basic greedy assignment
Instance Generation	XML-based layouts	JSON configuration
Hardware Integration	Supported	Not included
Scale	1000+ robots	Optimized for <50 robots

🛠️ Development

Run Tests

python -m pytest tests/

Add New Features

1. Fork the repository
2. Create a feature branch
3. Make your changes
4. Submit a pull request

📚 References

• Original Paper: Merschformann et al., "RAWSim-O: A Simulation Framework for Robotic Mobile Fulfillment Systems", Logistics Research (2018)
• Original Repository: https://github.com/merschformann/RAWSim-O

📄 License

MIT License - see LICENSE file for details

🙏 Credits

This MVP is inspired by the original RAWSim-O project by Marius Merschformann and contributors. Special thanks to the RAWSim-O team for their excellent research and open-source contribution to warehouse automation simulation.

🤝 Contributing

Contributions are welcome! Please feel free to submit a Pull Request.

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Built with ❤️ for warehouse automation enthusiasts