acadia_tamp_workshop

Installation

Conda environment (required!)

The following steps will create a new Conda environment with python 3.11 and install this package in the new environment. The new environment is named acadia_tamp and can be activated by conda activate acadia_tamp. Whenever you open a new terminal, you need to activate the environment again. These commands are best executed in the Anaconda Prompt or Anaconda Powershell Prompt.

conda create --name acadia_tamp  -c conda-forge  --yes numpy networkx scipy matplotlib-base pillow schema sympy typing_extensions watchdog "jsonschema>=4.17,<4.18" imageio pyserial pybullet roslibpy pycollada colorama python=3.7

Activate the environment

conda activate acadia_tamp

To Delete the environment

conda env remove --name acadia_tamp

Clone and update submodules

Install this library from source by cloning this repo to a local "working directory" and install it. The --recursive flag is needed when cloning to initialize all the git submodules. You can learn more about submodules here.

cd <your working directory>
git clone --recursive https://github.com/yijiangh/acadia_tamp_workshop.git
cd acadia_tamp_workshop

Later in the development, whenever you need to update the submodules, issue the following:

git submodule update --init --recursive

Install libraries

Run this the following in terminal from the root folder of this repo. All libraries are installed from source (in the editable mode).

pip install compas --no-deps
# Install the submodule libraries from source
pip install --no-deps -e .\external\compas_fab
pip install --no-deps -e .\external\compas_fab_pychoreo
pip install 'pybullet_planning>=0.6.0'
pip install -e .\external\ikfast_pybind # Only if you want to experiment IKFast later
python -m compas_rhino.install

If the installer complain about missing cython or cmake, install the following tool chain:

conda install cython numpy==1.21.5 mkl-devel cmake

If the installation process ask for Visual Studio Build Tools. Download the installer (Build Tools for Visual Studio 2022) from here and install it. This may take a while

TODO: to be debated if we should make this repo as a package

Validate the installation

Activate the environment

conda activate acadia_tamp

Go to the workshop folder

cd <your working directory>

Run the follwing example file:

python examples\03_pybullet_single_query\plan_free_motion.py

You should see the result:

pybullet build time: Oct 14 2023 15:51:40
Found a trajectory!
Planning took 3.998746395111084 seconds