Getting started

This is the guide to understand how motion planning components are defined in the package.

Pre-requisites

• Python >=3.8

• pip3

Installation from pypi

The package is uploaded to pypi so you can install it using

pip3 install mpscenes

Installation from source

You first have to download the repository

git clone git@github.com:maxspahn/motion_planning_scenes.git

Then, you can install the package using pip as:

pip3 install .

The code can be installed in editible mode using

pip3 install -e .

Note that we recommend using poetry in this case.

Optional: Installation with poetry

If you want to use poetry, you have to install it first. See their webpage for instructions docs.

poetry install

The virtual environment is entered by

poetry shell

Inside the virtual environment you can access all the examples.

Installing dependencies

Dependencies should be installed through pip or poetry, see below.

Using pip, you can use

pip3 install

Using poetry

poetry install

Examples

Obstacles and goals are defined as dictionaries. You could potentially also load them in as yaml files, but the parsing is not part of this package. The examples will be based on python dicts.

A simple spherical obstacle with radius can be constructed:

config_dict = {
    "type": "sphere",
    "geometry": {
      "position": [2.0, 2.0, 1.0],
      "radius": 1.0,
    },
}
obstacle_1 = SphereObstacle(
  name="obstacle_1", content_dict=config_dict
)

A box (cuboid) obstacle, that can be moved by robots, can be created as shown below. Note, that we specify the limits for randomization here.

config_dict = {
    'type': 'box',
    'geometry': {
        'position' : [2.0, 0.0, 2.0],
        'width': 0.2,
        'height': 0.2,
        'length': 0.2,
    },
    'movable': True,
    'high': {
         'position' : [5.0, 5.0, 1.0],
        'width': 0.2,
        'height': 0.2,
        'length': 0.2,
    },
    'low': {
        'position' : [0.0, 0.0, 0.5],
        'width': 0.2,
        'height': 0.2,
        'length': 0.2,
    }
}
obstacle_2 = BoxObstacle(
  name="obstacle_2", content_dict=config_dict
)

A dynamic obstacle can be defined as:

config_dict = {
    "type": "sphere",
    "geometry": {
      "trajectory": ["2.0 - 0.1 * t", "-0.0", "0.1"],
      "radius": 0.2
    },
}
obstacle_3 = DynamicSphereObstacle(
    name="obstacle_3", content_dict=config_dict
)