controller_project_template

The template aims to provide a maintainable and testable foundation for robotics control systems while allowing flexibility for different teams to customize their components.

Requirements

• Python 3.10+
• numpy
• yaml

References

• https://github.com/facebookresearch/home-robot/tree/main
• https://github.com/LeCAR-Lab/CoVO-MPC/tree/main
• https://github.com/stephane-caron/qpmpc/tree/main
• https://github.com/sea-bass/pyroboplan
• https://github.com/Simple-Robotics/aligator/tree/main
• https://github.com/LeCAR-Lab/dial-mpc/tree/main
• https://github.com/Physical-Intelligence/openpi
• https://github.com/krishauser/Klampt/tree/master/Python/klampt

Considerations

• Assume each module (src/control, src/state_estimation, etc) are maintained by different teams
  • We are fine with some code duplications (e.g. ControllerParamsBuilder) across these modules as each team might have customizations of their own
  • ...Unless the code structure becomes incomprehensible to certain degree
• Should we keep config files in a separate folder instead of putting them in module folder?

Note

• Use tap to hadle configs? so that type hint for config args can be simplified
• Consider a ROS 2 system arch?

Todo

Control module template

• Add Draft structure
• Implement factory pattern
• Write documents
• Testing
  • Write tests for controller classes
  • Write tests for factories
• Demo script
  • mujoco_playground: Go1
  • Unicycle MPC/PID
• Exception Handling
  • Add parameter validation exceptions
  • Add runtime exceptions

Estimation module template

• Draft observer structure
• Implement observer pattern
• Tessting

Planning module template

• Draft ??? structure
• Implement ??? pattern
• Tessting

System Integration

• Integration Tests
  • End-to-end controller tests
  • Configuration loading tests
• GitHub Actions CI
  • Add linting and code formatting (ruff)
  • Add type checking (mypy)
  • Set up code coverage reporting
• Package Management
  • Set up setup.py/project.toml
  • Define dependencies
  • Provide minimal Docker environment

Memo

• ruff format
• ruff check or ruff check --fix