pSim

pSim: Very Small Size Soccer Simulation Environment

Comprehensive simulation platform for autonomous robotic soccer development

Welcome to pSim

pSim is a comprehensive, pythonic simulation environment specifically designed for the Very Small Size Soccer (VSSS) competition. It provides researchers, students, and developers with powerful tools to develop, test, and validate autonomous robotic soccer strategies and algorithms.

Whether you're working on traditional control algorithms, reinforcement learning, or multi-agent coordination, pSim offers the flexibility and performance you need.

Quick Start

Installation

pSim uses uv for fast, reliable package management. See the installation guide for complete setup instructions including uv installation.

# Quick install with uv
uv venv --python 3.12
uv pip install pSim[all] --upgrade

# Or, after venv only install a specific dependency
uv pip install pSim[gym]   # For Gymnasium support
uv pip install pSim[zoo]   # For PettingZoo support
uv pip install pSim[all]   # For both Gymnasium and PettingZoo

First Simulation

from pSim import SimpleVSSSEnv
import numpy as np

# Create your first simulation with custom robot counts
env = SimpleVSSSEnv(
    render_mode="human",
    scenario="formation",
    num_agent_robots=2,      # Number of controllable robots
    num_adversary_robots=3   # Number of opponent robots
)
obs, info = env.reset()

# Run simulation steps with random actions
for step in range(1000):
    # Generate random actions for all agent robots [v, w] (velocity, angular velocity)
    action = np.random.uniform(-1, 1, (env.num_agent_robots, 2))
    obs, reward, terminated, truncated, info = env.step(action)
    if terminated or truncated:
        obs, info = env.reset()

env.close()