rtd-code-python

The original MATLAB RTD Planner and ARMOUR ported into Python

Getting Started

rtd-code-python requires Python 3 or higher. For best results, use Python 3.11.3

1. Clone the repository and open a terminal in the root directory
2. Install virtualenv with py -m pip install virtualenv
3. Create a new Virtual Environment with py -m venv rtd_venv
4. Activate the Virtual Environment with rtd_venv\scripts\activate
5. Install rtd-code-python and its dependencies with py -m pip install -r requirements.txt && py -m pip install -e .
6. Separately install zonopy and zonopy-robots.
7. Optionally, open a terminal inside scripts\demos and run the demo scripts (the urdfs folder can be found from the armour repository)

Note: You may need to apply the fix in fishbotics/urchin#9 to load some of the armour URDF's

Key Features

• ARMOUR (armour)
• RTD Planner (rtd/planner)
• Agents and Components (rtd/entity)
• Visualization System using PyVista (rtd/sim/systems/visual)
• Collision System using Trimesh (rtd/sim/systems/collision)
• Agent and Visualization Demo (scripts/demos/box2d_agent.py)
• Armour Agent, Visualization, and Collision Demo (scripts/tests/test_systems.py)

Changes from the original MATLAB code

rtd/sim

• The collision and visualization systems do not have a pause function
• The collision and visualization systems have been renamed appropriately
• Added get_discretization_and_pause() to the visual system to help animate at a set FPS and speed
• Added waituntilclose() to the visual system (does exactly what you think it does)
• Visual system's updateVisual() no longer renders if redraw() hasn't been called before
• Visual system's redraw() and animate() takes a new axlim optional argument to specify the x,y, and z bounds
• The collision system uses mesh collisions rather than patches
• WorldEntity's get_componentOverrideOptions() can take in either a class instance or the class itself (rather than a string of the name of the class)

rtd/planner

• The solver inside the planner is implemented with scripy.solve as fmincon does not exist in Python
• RtdTrajOpt's merge_constraint() is now a functor which uses caches

rtd/util

• Removed UUID as they can be replaced by the id() function
• Removed NamedClass as the logging is handled by Python's logging module

armour

• Removed R_t and R_t_des from JRSInstance as numpy and tensorflow already has a transpose function
• Trajectories no longer stores an internal JRSInstance. The factory instead pulls values from the instance when creating trajectories
• ArmourAgentInfo takes in a urchin.URDF object as the robot argument

Not Fully Implemented Yet

• armour/agent/ArmourController
• armour/agent/ArmourMexController
• ArmourController ultimate bounds check call in ArmourAgent
• armour/agent/ArmourDynamics
• armour/reachsets/IRSGenerator
• armour/agent/ArmourAgentInfo
• armour/agent/ArmKinematics
• ArmourSimulation and collision/visual pause utility

Tested Features

• rtd/demos
• rtd/entity
• rtd/functional
• rtd/planner/reachsets
• rtd/planner/trajectory
• rtd/planner/trajopt/GenericArmObjective
• rtd/planner/trajopt/Objective
• rtd/planner/trajopt/OptimizationEngine
• rtd/planner/trajopt/ScipyOptimizationEngine
• rtd/planner/trajopt/TrajOptProps
• rtd/planner/trajopt/RtdTrajOpt
• rtd/sim/systems/visual
• rtd/sim/systems/collision
• rtd/sim/world
• rtd/util
• armour/agent/ArmourAgentInfo
• armour/agent/ArmourAgentState
• armour/agent/ArmourAgentVisual
• armour/agent/ArmourAgentCollision
• armour/agent/ArmourIdealAgentDynamics
• armour/agent/ArmourController
• armour/agent/ArmourMexController
• armour/legacy/bernstein_to_poly
• armour/legacy/match_deg5_bernstein_coefficients
• armour/legacy/StraightLineHLP
• armour/reachsets/JRSInstance
• armour/reachsets/JRSGenerator
• armour/reachsets/FOInstance
• armour/reachsets/FOGenerator
• armour/reachsets/IRSInstance
• armour/reachsets/IRSGenerator
• armour/reachsets/JLSInstance
• armour/reachsets/JLSGenerator
• armour/trajectory/ArmTrajectoryFactory
• armour/trajectory/BernsteinArmTrajectory
• armour/trajectory/PiecewiseArmTrajectory
• armour/trajectory/ZeroHoldArmTrajectory
• armour/ArmourAgent
• armour/ArmourPlanner