OCRL Project

Installation

You can run the following to automatically create a working environment using conda.

conda create -n ocrl python=3.11
conda activate ocrl
conda install jupyter notebook

pip install -r requirements.txt

RRT Sharp

Creat another conda environment to build RRT Sharp component.

conda create -n rrt_sharp python=3.9.7
conda activate rrt_sharp
pip install -r requirements2.txt
cd rrt_sharp/src/rrt_sharp
mkdir build
cd build
cmake ..
make -j 12

Once the package is built, can switch to ocrl conda environment.

Test

python3 src/rrt_sharp/src/py/test.py

Running

The easiest way to run the project is to open main.ipynb using jupyter in the conda environment.

jupyter notebook

TODO

• debug python lib for RRT
• debug torch MPPI
• start writing final report
• start writing for the presentation
• be able to run rrt on all envs

References

Kinematic Bicycle Model: https://github.com/winstxnhdw/KinematicBicycleModel

PyTorch MPPI: https://github.com/UM-ARM-Lab/pytorch_mppi