default installation to minimal dependencies, updated cython function, updated animation for matplotlib>=3.8

Author: fwiebe

Makefile

@@ -10,6 +10,9 @@ install: python cpp
 python:
 	make -C $(PYTHON_ROOT)
 
+pythonfull:
+	make -C $(PYTHON_ROOT) full
+
 cpp:
 	make -C $(CPP_ROOT)
 

docs/text/installation.rst

@@ -18,7 +18,7 @@ We recommend using a virtual python environment.
     sudo apt-get install libyaml-cpp-dev libeigen3-dev libpython3.8 libx11-6 libsm6 libxt6 libglib2.0-0 python3-sphinx python3-numpydoc python3-sphinx-rtd-theme
 
     # ubuntu22
-    sudo apt-get install libyaml-cpp-dev libeigen3-dev libx11-6 libsm6 libglib2.0-0 python3-sphinx python3-numpydoc python3-sphinx-rtd-theme
+    sudo apt-get install libyaml-cpp-dev libeigen3-dev libx11-6 libsm6 libglib2.0-0 libboost-dev python3-sphinx python3-numpydoc python3-sphinx-rtd-theme
 
 
 2. Clone the repository::
@@ -32,18 +32,28 @@ We recommend using a virtual python environment.
     make install
 
 
-With this you are done. The following two bullet points may be useful when only
+With this you are done and you can use all functionalities and some controllers in this repository.
+If you want install all requirements (this includes also larger depoendencies
+such as tensorflow, drake etc.) for all controllers do
+
+4. (Optional) Full installation ::
+  
+     make pythonfull
+
+The following two bullet points may be useful when only
 the C++/Python code is needed, if you work on the code and need to recompile
 often, or if errors appear during the installation call in 3. 
 
 4. If you want to install only the Python package, you can do::
 
     make python
+    # make pythonfull
 
     # or
 
     cd src/python
     pip install .
+    # pip install .[all]
 
 5. If you want to build C++ code and install python bindings::
 

examples/realistic/ilqr_mpc.py

@@ -70,7 +70,7 @@
 perturbation_array, _, _, _ = get_random_gauss_perturbation_array(
     t_final, dt, 3, 1.0, [0.01, 0.05], [0.1, 1.0]
 )
-plot_perturbation_array(t_final, dt, perturbation_array)
+# plot_perturbation_array(t_final, dt, perturbation_array)
 
 # filter args
 lowpass_alpha = [1.0, 1.0, 0.3, 0.3]

examples/realistic/lqr.py

@@ -74,7 +74,7 @@
 perturbation_array, _, _, _ = get_random_gauss_perturbation_array(
     t_final, dt, 3, 1.0, [0.01, 0.05], [0.1, 1.0]
 )
-plot_perturbation_array(t_final, dt, perturbation_array)
+# plot_perturbation_array(t_final, dt, perturbation_array)
 
 # filter args
 lowpass_alpha = [1.0, 1.0, 0.2, 0.2]

src/cpp/python/cppilqr.pyx

@@ -313,7 +313,8 @@ cdef class cppilqrmpc:
 
         array_wrapper = ArrayWrapper()
         array_wrapper.set_data(N-1, <void*> vec)
-        ar = np.array(array_wrapper, copy=False)
+        # ar = np.array(array_wrapper, copy=False)
+        ar = np.array(array_wrapper)
         ar.base = <PyObject*> array_wrapper
         Py_INCREF(array_wrapper)
         return ar
@@ -326,7 +327,7 @@ cdef class cppilqrmpc:
 
         array_wrapper = ArrayWrapper()
         array_wrapper.set_data(N-1, <void*> vec)
-        ar = np.array(array_wrapper, copy=False)
+        ar = np.array(array_wrapper)
         ar.base = <PyObject*> array_wrapper
         Py_INCREF(array_wrapper)
         return ar
@@ -339,7 +340,7 @@ cdef class cppilqrmpc:
 
         array_wrapper = ArrayWrapper()
         array_wrapper.set_data(N, <void*> vec)
-        ar = np.array(array_wrapper, copy=False)
+        ar = np.array(array_wrapper)
         ar.base = <PyObject*> array_wrapper
         Py_INCREF(array_wrapper)
         return ar
@@ -352,7 +353,7 @@ cdef class cppilqrmpc:
 
         array_wrapper = ArrayWrapper()
         array_wrapper.set_data(N, <void*> vec)
-        ar = np.array(array_wrapper, copy=False)
+        ar = np.array(array_wrapper)
         ar.base = <PyObject*> array_wrapper
         Py_INCREF(array_wrapper)
         return ar
@@ -365,7 +366,7 @@ cdef class cppilqrmpc:
 
         array_wrapper = ArrayWrapper()
         array_wrapper.set_data(N, <void*> vec)
-        ar = np.array(array_wrapper, copy=False)
+        ar = np.array(array_wrapper)
         ar.base = <PyObject*> array_wrapper
         Py_INCREF(array_wrapper)
         return ar
@@ -378,7 +379,7 @@ cdef class cppilqrmpc:
 
         array_wrapper = ArrayWrapper()
         array_wrapper.set_data(N, <void*> vec)
-        ar = np.array(array_wrapper, copy=False)
+        ar = np.array(array_wrapper)
         ar.base = <PyObject*> array_wrapper
         Py_INCREF(array_wrapper)
         return ar

src/python/double_pendulum/simulation/simulation.py

@@ -690,20 +690,20 @@ def _animation_step(self, par_dict):
             ani_plot_counter += 1
 
         # plot base
-        self.animation_plots[ani_plot_counter].set_data(ee_pos[0][0], ee_pos[0][1])
+        self.animation_plots[ani_plot_counter].set_data([ee_pos[0][0]], [ee_pos[0][1]])
         ani_plot_counter += 1
 
         # plot bodies
         for link in range(self.plant.n_links):
             self.animation_plots[ani_plot_counter].set_data(
-                ee_pos[link + 1][0], ee_pos[link + 1][1]
+                [ee_pos[link + 1][0]], [ee_pos[link + 1][1]]
             )
             ani_plot_counter += 1
 
             if self.plot_trail:
                 self.animation_plots[ani_plot_counter].set_data(
-                    np.asarray(self.ee_poses)[:, link + 1, 0],
-                    np.asarray(self.ee_poses)[:, link + 1, 1],
+                    [np.asarray(self.ee_poses)[:, link + 1, 0]],
+                    [np.asarray(self.ee_poses)[:, link + 1, 1]],
                 )
                 ani_plot_counter += 1
 
@@ -734,7 +734,7 @@ def _animation_step(self, par_dict):
             coords = np.asarray(coords)
             if len(coords) > 1:
                 self.animation_plots[ani_plot_counter].set_data(
-                    coords.T[0], coords.T[1]
+                    [coords.T[0]], [coords.T[1]]
                 )
             ani_plot_counter += 1
 
@@ -747,7 +747,7 @@ def _animation_step(self, par_dict):
             coords = np.asarray(coords)
             if len(coords) > 1:
                 self.animation_plots[ani_plot_counter].set_data(
-                    coords.T[0], coords.T[1]
+                    [coords.T[0]], [coords.T[1]]
                 )
             ani_plot_counter += 1
 

src/python/double_pendulum/simulation/visualization.py

@@ -47,10 +47,10 @@ def get_arrow(radius, centX, centY, angle_, theta2_, color_="black"):
     endY = centY + (radius / 2) * np.sin(rad(theta2_ + angle_))
 
     head = RegularPolygon(
-        (endX, endY),  # (x,y)
-        3,  # number of vertices
-        radius / 20,  # radius
-        rad(angle_ + theta2_),  # orientation
+        xy=(endX, endY),  # (x,y)
+        numVertices=3,  # number of vertices
+        radius=radius / 20,  # radius
+        orientation=rad(angle_ + theta2_),  # orientation
         color=color_,
     )
     return arc, head

src/python/makefile

@@ -1,4 +1,7 @@
 default: double_pendulum_python
 
 double_pendulum_python: setup.py
+	pip install .
+
+full: setup.py
 	pip install .[all]

src/python/setup.py

@@ -24,6 +24,7 @@
         "dill",
         "argparse",
         "opencv-python",
+        "pyyaml",
         # c++ python bindings
         "cython<1.0.0",
     ],
@@ -39,7 +40,6 @@
             "gymnasium",
             "stable_baselines3",
             "shimmy",
-            "pyyaml",
             "jax",
             "jaxlib",
             "flax",
@@ -48,7 +48,15 @@
         "doc": ["sphinx", "sphinx-rtd-theme", "numpydoc"],
         "test": ["pytest", "lark"],
         "OC": ["drake", "meshcat"],
-        "RL": ["gymnasium", "stable_baselines3", "shimmy", "pyyaml", "jax", "jaxlib", "flax", "tqdm"],
+        "RL": [
+            "gymnasium",
+            "stable_baselines3",
+            "shimmy",
+            "jax",
+            "jaxlib",
+            "flax",
+            "tqdm",
+        ],
     },
     classifiers=[
         "Development Status :: 5 - Stable",