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Project: rai-python (GitHub Link)

• rai-python-master
  • Makefile
  • config.mk
  • rai-robotModels
  • pybind11
  • setupPython.sh
  • .gitmodules
  • rai
  • LICENSE
  • test
    • rai.cfg
    • kitchen.g
    • basics.py
    • retired
      • fol.g
      • main.cpp
      • Makefile
      • lgp-example.py
      • boxProblem.g
      • pick_and_place_CGO.py
      • keywords.g
      • lgp-example.g
  • models
    • fol-pickAndPlace.g
    • RSSproblem-01.g
    • tables.g
    • RSSproblem-05.g
    • RSSfol.g
    • RSSproblem-shared.g
    • keywords.g
  • CMakeLists.txt
  • README.md
  • .gitignore
  • docs
    • rai.cfg
    • 6-KOMO-physics.ipynb
    • 3-IK-optimization.ipynb
    • broken-6-KOMO-physics.ipynb
    • lgp1-pickAndPlace.ipynb
    • 4-path-optimization.ipynb
    • 5-cgo-optimization.ipynb
    • 9-robotModels.ipynb
    • 1-basics.ipynb
    • 6-KOMO-skeleton.ipynb
    • README.md
    • broken-6-KOMO-skeleton.ipynb
    • 2-features.ipynb
    • sim1-physics.ipynb
    • .gitignore
    • retired
      • 4-LGP.ipynb
  • retired
    • src
      • ry
        • Makefile
        • lgp-py.h
        • types.h
        • transformations.py
        • ry.cpp
        • lgp-py.cpp
        • ry.h
        • retired
          • display.cpp
          • display.h

python bindings to rai

This repo exposes some functionality of the RAI code in python bindings. See https://github.com/MarcToussaint/rai for a README of the RAI code.

The current focus of the development is to provide simpler interfaces to Logic-Geometric Programming. The repo https://github.com/MarcToussaint/18-RSS-PhysicalManipulation stores the original code for the experiments in the RSS'18 paper. Here the aim are clean user interfaces and tutorials (both, C++ and python).

If you're interested to contribute in development or testing, consider joining the "LGP code" mailing list https://groups.google.com/forum/#!forum/lgp-code.

Demo videos

https://ipvs.informatik.uni-stuttgart.de/mlr/lgp/

Quick Start

This assumes a standard Ubuntu 18.04 (or 16.04) machine.

WE DIDN'T GET TO RUN THIS WITH ANACONDA PYTHON. I you have Anaconda installed, please remove it from the PATH in .bashrc. The setup below will install the standard Ubuntu python3 and jupyter notebook.

# install python3 and jupyter, if you haven't already
sudo apt-get install python3 python3-pip
pip3 install --user --upgrade pip
pip3 install --user jupyter 

git clone git@github.com:MarcToussaint/rai-python.git
cd rai-python

# skip the following if you have ssh authorization to github
git config --file=.gitmodules submodule.rai.url https://github.com/MarcToussaint/rai.git
git config --file=.gitmodules submodule.rai-robotModels.url https://github.com/MarcToussaint/rai-robotModels.git

git submodule init
git submodule update

#see below how to enable bullet

make -j1 installUbuntuAll  # calls sudo apt-get install; you can always interrupt
make -j4                     # builds libs and tests

python3 -m pip install --upgrade pip
python3 -m pip install jupyter

jupyter-notebook docs/ #perhaps start with 6-KOMO-skeleton

Also test the cpp versions:

cd rai/test/LGP/pickAndPlace
make
./x.exe

To enable the PhysX or bullet physical enginges, before you compile rai-python, first install bullet locally following https://github.com/MarcToussaint/rai-maintenance/blob/master/help/localSourceInstalls.md Then, in 'rai-python/', call

echo "PHYSX = 1" >> config.mk
echo "BULLET = 1" >> config.mk

Then compile.

Updating after a pulling a new version

git submodule update
make -C rai dependAll
make -j4

This avoids a full make clean -- but if that doesn't work, hopefully make clean && make -j4 will do.

Tutorials

• Python examples

Older/messy docs

Just as a reference: https://github.com/MarcToussaint/rai-maintenance/tree/master/help