safe-autonomy-dynamics

Intro

The safe-autonomy-dynamics package provides an API for dynamic systems supported by a library of common functions used to access and update system dynamics. These dynamics are used to build simulated environments which behave like real-world systems for the purpose of safe autonomy research and development (though their use is not limited to the safety domain). The package also includes a zoo of air and space domain dynamics modules tailored for simulating aerospace systems. The team intends to grow the zoo as new dynamic systems are studied or simulation requirements change.

Docs

Library documentation and api reference located here.

Installation

The following instructions detail how to install the safe-autonomy-dynamics library on your local system. It is recommended to install the python modules within a virtualenv or conda environment. safe-autonomy-dynamics utilizes Poetry to handle installation. Poetry can install safe-autonomy-dynamics into an auto-generated virtualenv or within the currently active environment.

Installing safe-autonomy-dynamics

Clone a copy of the safe-autonomy-dynamics repo onto your local machine via SSH (recommended):

git clone git@github.com:act3-ace/safe-autonomy-dynamics.git

or HTTPS:

git clone https://github.com/act3-ace/safe-autonomy-dynamics.git

Installing safe-autonomy-dynamics with pip

To install the safe-autonomy-dynamics module into your environment using pip:

cd safe-autonomy-dynamics
pip install .

For a local development version, please install using the -e, --editable option:

pip install -e .

If you'd like jax support, specify the jax extra:

pip install .[jax]

Installing safe-autonomy-dynamics with Poetry

Install the safe-autonomy-dynamics module into your environment using poetry:

cd safe-autonomy-dynamics
poetry install

Poetry will handle installing appropriate versions of the dependencies for safe-autonomy-dynamics into your environment, if they aren't already installed. Poetry will install an editable version of safe-autonomy-dynamics to the environment.

If you'd like jax support, specify the jax extra:

poetry install -E jax

Build Docs Locally

First make sure the mkdocs requirements are installed

poetry install --with docs

Now, build the documentation and serve it locally. By default, you should be able to reach the docs on your local web browser at 127.0.0.1:8000

rm -r site
poetry run mkdocs build
cp -r docs/. site/
poetry run mkdocs serve

Public Release

Approved for public release; distribution is unlimited. Case Number: AFRL-2023-6155

A prior version of this repository was approved for public release. Case Number: AFRL-2022-3202

Team

Umberto Ravaioli, Kyle Dunlap, Jamie Cunningham, John McCarroll, Kerianne Hobbs, Charles Keating