API Reference (Python)

The Python API consists mostly of bindings autogenerated using nanobind.

As such, the Python API docs below may not contain as many comments as the C++ API docs. Refer to the C++ API Reference page for more complete information.

• roboplan.roboplan_ext
  • Submodules
    • roboplan.roboplan_ext.core
      • Classes
      • Functions
      • Module Contents
        • JointConfiguration
          • JointConfiguration.joint_names
          • JointConfiguration.positions
          • JointConfiguration.velocities
          • JointConfiguration.accelerations
        • CartesianConfiguration
          • CartesianConfiguration.base_frame
          • CartesianConfiguration.tip_frame
          • CartesianConfiguration.tform
        • JointType
          • JointType.UNKNOWN
          • JointType.PRISMATIC
          • JointType.REVOLUTE
          • JointType.CONTINUOUS
          • JointType.PLANAR
          • JointType.FLOATING
        • JointLimits
          • JointLimits.min_position
          • JointLimits.max_position
          • JointLimits.max_velocity
          • JointLimits.max_acceleration
          • JointLimits.max_jerk
        • JointMimicInfo
          • JointMimicInfo.mimicked_joint_name
          • JointMimicInfo.scaling
          • JointMimicInfo.offset
        • JointInfo
          • JointInfo.type
          • JointInfo.num_position_dofs
          • JointInfo.num_velocity_dofs
          • JointInfo.limits
          • JointInfo.mimic_info
        • JointGroupInfo
          • JointGroupInfo.joint_names
          • JointGroupInfo.joint_indices
          • JointGroupInfo.q_indices
          • JointGroupInfo.v_indices
          • JointGroupInfo.has_continuous_dofs
          • JointGroupInfo.nq_collapsed
          • JointGroupInfo.__repr__()
        • JointPath
          • JointPath.joint_names
          • JointPath.positions
          • JointPath.__repr__()
        • JointTrajectory
          • JointTrajectory.joint_names
          • JointTrajectory.times
          • JointTrajectory.positions
          • JointTrajectory.velocities
          • JointTrajectory.accelerations
          • JointTrajectory.__repr__()
        • Box
        • Sphere
        • Scene
          • Scene.getName()
          • Scene.getJointNames()
          • Scene.getActuatedJointNames()
          • Scene.getJointInfo()
          • Scene.configurationDistance()
          • Scene.setRngSeed()
          • Scene.randomPositions()
          • Scene.randomCollisionFreePositions()
          • Scene.hasCollisions()
          • Scene.isValidPose()
          • Scene.applyMimics()
          • Scene.toFullJointPositions()
          • Scene.interpolate()
          • Scene.forwardKinematics()
          • Scene.getFrameId()
          • Scene.getJointGroupInfo()
          • Scene.getCurrentJointPositions()
          • Scene.setJointPositions()
          • Scene.getJointPositionIndices()
          • Scene.addBoxGeometry()
          • Scene.addSphereGeometry()
          • Scene.updateGeometryPlacement()
          • Scene.removeGeometry()
          • Scene.getCollisionGeometryIDs()
          • Scene.setCollisions()
          • Scene.__repr__()
        • computeFramePath()
        • hasCollisionsAlongPath()
        • PathShortcutter
          • PathShortcutter.shortcut()
          • PathShortcutter.getPathLengths()
          • PathShortcutter.getNormalizedPathScaling()
          • PathShortcutter.getConfigurationfromNormalizedPathScaling()
        • collapseContinuousJointPositions()
        • expandContinuousJointPositions()
    • roboplan.roboplan_ext.example_models
      • Functions
      • Module Contents
        • get_install_prefix()
        • get_package_share_dir()
        • get_package_models_dir()
    • roboplan.roboplan_ext.rrt
      • Classes
      • Module Contents
        • Node
          • Node.config
          • Node.parent_id
        • RRTOptions
          • RRTOptions.group_name
          • RRTOptions.max_nodes
          • RRTOptions.max_connection_distance
          • RRTOptions.collision_check_step_size
          • RRTOptions.goal_biasing_probability
          • RRTOptions.max_planning_time
          • RRTOptions.rrt_connect
        • RRT
          • RRT.plan()
          • RRT.setRngSeed()
          • RRT.getNodes()
    • roboplan.roboplan_ext.simple_ik
      • Classes
      • Module Contents
        • SimpleIkOptions
          • SimpleIkOptions.group_name
          • SimpleIkOptions.max_iters
          • SimpleIkOptions.max_time
          • SimpleIkOptions.max_restarts
          • SimpleIkOptions.step_size
          • SimpleIkOptions.damping
          • SimpleIkOptions.max_error_norm
          • SimpleIkOptions.check_collisions
        • SimpleIk
          • SimpleIk.solveIk()
    • roboplan.roboplan_ext.toppra
      • Classes
      • Module Contents
        • PathParameterizerTOPPRA
          • PathParameterizerTOPPRA.generate()
• roboplan.viser_visualizer
  • Attributes
  • Classes
  • Module Contents
    • import_viser_succeed
    • MESH_TYPES
    • ViserVisualizer
      • ViserVisualizer.static_objects
      • ViserVisualizer.initViewer()
      • ViserVisualizer.loadViewerModel()
      • ViserVisualizer.loadViewerGeometryObject()
      • ViserVisualizer.display()
      • ViserVisualizer.displayCollisions()
      • ViserVisualizer.displayVisuals()
      • ViserVisualizer.displayFrames()
      • ViserVisualizer.drawFrameVelocities()
      • ViserVisualizer.updatePlacements()
      • ViserVisualizer.updateFrames()
      • ViserVisualizer.captureImage()
      • ViserVisualizer.setBackgroundColor()
      • ViserVisualizer.setCameraTarget()
      • ViserVisualizer.setCameraPosition()
      • ViserVisualizer.setCameraZoom()
      • ViserVisualizer.setCameraPose()
      • ViserVisualizer.disableCameraControl()
      • ViserVisualizer.enableCameraControl()
• roboplan.visualization
  • Functions
  • Module Contents
    • visualizePath()
    • visualizeTree()
    • visualizeJointTrajectory()