ML4KP (website)

A library for integrating machine learning tools with state-of-the-art sampling-based kinodynamic planning algorithms.

CURRENTLY REQUIRED DEPENDENCIES

• Eigen
• Yaml-Cpp

(Optional) Bullet Physics

1. Add the ML4KP directory to $DIRTMP_PATH.

2. Clone Bullet: git clone https://github.com/aravindsiv/bullet3.git

3. Build Bullet:

cmake .. && make -j4 && make install

4. Add the Bullet directory to $BULLET_PHYSICS_PATH.

(Optional) LibTorch

1. Download and extract the stable build of LibTorch (CPU) to src/prx/external.
2. Add the location to $Torch_DIR.

SETUP

Add the DirtMP directory to DIRTMP_PATH.

cd ~ /PATH/TO/DIRTMP/
export DIRTMP_PATH=$(pwd)

Add to .bashrc (most linux distros & older macos):

cd ~/PATH/TO/DIRTMP/
echo "export DIRTMP_PATH=$(pwd)" >> ~/.bashrc

Add .zshrc (macOS & some linux distros):

cd ~/PATH/TO/DIRTMP/
echo "export DIRTMP_PATH=$(pwd)" >> ~/.zshrc

COMPILING

To build the package:

cd $DIRTMP_PATH
mkdir build
cd build
cmake ..
make -j4

When you make code changes, you only need to make inside the build directory:

make -j4

Compilation options

By default, all options are on. To turn off any option, set it off while configuring: I.e. to turn off Tests:

cmake -DBUILD_TESTS=OFF ..
make -j4

• BUILD_FOR_PYTHON: Compile python bindings
• BUILD_FOR_BULLET: Compile the bullet interface
• BUILD_FOR_TORCH: Compile using the Torch library
• BUILD_TESTS: Compile the unit tests. Mostly for developers of the library.

Running unit tests

cmake -DBUILD_TESTS=ON .. # By default, this option is turned on
make -j4
ctest

EXECUTING

To run an executable,

cd ../bin
./EXECUTABLE_NAME

Using Python

Set pythonpath (temporal):

export PYTHONPATH=${DIRTMP_PATH}/lib

Add to .bashrc (most linux distros & older macos):

echo "export PYTHONPATH=\${DIRTMP_PATH}/lib:\${PYTHONPATH}" >> .bashrc

Add to .zshrc (macOS & some linux distros):

echo "export PYTHONPATH=\${DIRTMP_PATH}/lib:\${PYTHONPATH}" >> .zshrc

Running some examples:

python3.9 ${DIRTMP_PATH}/examples/acrobot/rrt.py
python3.9 ${DIRTMP_PATH}/examples/acrobot/sst.py
python3.9 ${DIRTMP_PATH}/examples/acrobot/dirt.py

Issues / Bugs / Feature Requests

Please create an issue on GitHub. Be as descriptive as possible and provide a minimal working example that reproduces the issue if you can.