python bindings to rai

This repo is an example of how you can setup your own repository with rai as a submodule, cmake build, and exposing some functionality of the RAI code in python bindings. The python bindings are already defined within rai. This repo adds a minimalistic cmake file to exemplify how to build the bindings, and some examples in tutorials (that have large overlap with the tests in rai/test/ry).

Documentation

Although very incomplete, the best intro to the code is found as part of the robotics-course documentation. Jupyter notebooks that demonstrate the use are found in the rai tests and in tutorials/.

Installation

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

Clone the repo:

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

Install Ubuntu packages. The following should do this automatically; if you don't like this, call make -j1 printUbuntuAll to see which code components depend on which Ubuntu packages, and install by hand.

sudo apt-get update
make -j1 installUbuntuAll  # calls sudo apt-get install; you can always interrupt

Install Python packages, including pybind:

echo 'export PATH="${PATH}:$HOME/.local/bin"' >> ~/.bashrc   #add this to your .bashrc, if not done already
sudo apt-get install python3 python3-dev python3-numpy python3-pip python3-distutils
pip3 install --user --upgrade pip
pip3 install --user jupyter nbconvert matplotlib pybind11

Compile using cmake. (Use ccmake to configure options, such as linking to bullet.)

mkdir build
cd build
cmake ..
make -j $(command nproc)

Test a first notebook, then checkout all notebooks in tutorials/ and rai/test/ry

jupyter-notebook tutorials/1-basics.ipynb

If you like, you can also run the C++-library tests:

cd rai
make tests
make runTests

.. or call them individually: cd rai/test/LGP/pickAndPlace; make; ./x.exe

Docker

The install was tested in the mini20 docker. There is also a full20 docker that contains a compiled rai version.

psh117/rai-python

python bindings to rai

Documentation

Installation

Docker