roboplan.roboplan_ext.core

Core roboplan module

Classes

`JointConfiguration`	Represents a robot joint configuration.
`CartesianConfiguration`	Represents a robot Cartesian configuration.
`JointType`	Enumeration that describes different types of joints.
`JointLimits`	Contains joint limit information.
`JointMimicInfo`	Contains joint mimic information.
`JointInfo`	Contains joint information relevant to motion planning and control.
`JointGroupInfo`	Contains information about a named group of joints.
`JointPath`	Contains a path of joint configurations.
`JointTrajectory`	Contains a trajectory of joint configurations.
`Box`	Temporary wrapper struct to represent a box geometry.
`Sphere`	Temporary wrapper struct to represent a sphere geometry.
`OcTree`	Temporary wrapper struct to represent a octree geometry.
`Scene`	Primary scene representation for planning and control.
`PathShortcutter`	Shortcuts joint paths with random sampling and checking connections.

Functions

`computeFramePath`(…)	Computes the Cartesian path of a specified frame using a vector of provided points.
`hasCollisionsAlongPath`(scene, q_start, q_end, ...[, ...])	Checks collisions along a specified configuration space path.
`collapseContinuousJointPositions`(scene, group_name, q_orig)	Collapses a joint position vector's continuous joints for downstream algorithms.
`expandContinuousJointPositions`(scene, group_name, q_orig)	Expands a joint position vector's continuous joints from downstream algorithms.

Module Contents

class roboplan.roboplan_ext.core.JointConfiguration

class roboplan.roboplan_ext.core.JointConfiguration(joint_names, positions)

Represents a robot joint configuration.

property joint_names: list[str]

The names of the joints.

Return type:: list[str]

property positions: Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=None, order='C')]

The joint positions, in the same order as the names.

Return type:: Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order=’C’)]

property velocities: Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=None, order='C')]

The joint velocities, in the same order as the names.

Return type:: Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order=’C’)]

property accelerations: Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=None, order='C')]

The joint accelerations, in the same order as the names.

Return type:: Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order=’C’)]

class roboplan.roboplan_ext.core.CartesianConfiguration

class roboplan.roboplan_ext.core.CartesianConfiguration(base_frame, tip_frame, tform)

Represents a robot Cartesian configuration.

property base_frame: str

The name of the base (or reference) frame.

Return type:: str

property tip_frame: str

The name of the tip (or target) frame.

Return type:: str

property tform: Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=4, 4, order='F')]

The transformation matrix from the base to the tip frame.

Return type:: Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(4, 4), order=’F’)]

class roboplan.roboplan_ext.core.JointType(*args, **kwds)

Bases: enum.Enum

Enumeration that describes different types of joints.

UNKNOWN = 0

PRISMATIC = 1

REVOLUTE = 2

CONTINUOUS = 3

PLANAR = 4

FLOATING = 5

class roboplan.roboplan_ext.core.JointLimits

Contains joint limit information.

property min_position: Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=None, order='C')]

The minimum positions of the joint.

Return type:: Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order=’C’)]

property max_position: Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=None, order='C')]

The maximum positions of the joint.

Return type:: Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order=’C’)]

property max_velocity: Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=None, order='C')]

The maximum (symmetric) velocities of the joint.

Return type:: Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order=’C’)]

property max_acceleration: Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=None, order='C')]

The maximum (symmetric) accelerations of the joint.

Return type:: Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order=’C’)]

property max_jerk: Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=None, order='C')]

The maximum (symmetric) jerks of the joint.

Return type:: Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order=’C’)]

class roboplan.roboplan_ext.core.JointMimicInfo

Contains joint mimic information.

property mimicked_joint_name: str

The name of the joint being mimicked.

Return type:: str

property scaling: float

The scaling factor for the mimic relationship.

Return type:: float

property offset: float

The offset for the mimic relationship.

Return type:: float

class roboplan.roboplan_ext.core.JointInfo(joint_type)

Contains joint information relevant to motion planning and control.

Parameters:: joint_type (JointType)

property type: JointType

The type of the joint.

Return type:: JointType

property num_position_dofs: int

The number of positional degrees of freedom.

Return type:: int

property num_velocity_dofs: int

The number of velocity degrees of freedom.

Return type:: int

property limits: JointLimits

The joint limit information for each degree of freedom.

Return type:: JointLimits

property mimic_info: JointMimicInfo | None

The joint mimic information.

Return type:: JointMimicInfo | None

class roboplan.roboplan_ext.core.JointGroupInfo

Contains information about a named group of joints.

property joint_names: list[str]

The joint names that make up the group.

Return type:: list[str]

property joint_indices: list[int]

The joint indices in the group.

Return type:: list[int]

property q_indices: Annotated[numpy.typing.NDArray[numpy.int32], dict(shape=None, order='C')]

The position vector indices in the group.

Return type:: Annotated[numpy.typing.NDArray[numpy.int32], dict(shape=(None, ), order=’C’)]

property v_indices: Annotated[numpy.typing.NDArray[numpy.int32], dict(shape=None, order='C')]

The velocity vector indices in the group.

Return type:: Annotated[numpy.typing.NDArray[numpy.int32], dict(shape=(None, ), order=’C’)]

property has_continuous_dofs: bool

Whether the group has any continuous degrees of freedom.

Return type:: bool

property nq_collapsed: int

The number of collapsed degrees of freedom.

Return type:: int

__repr__()

Return type:: str

class roboplan.roboplan_ext.core.JointPath

Contains a path of joint configurations.

property joint_names: list[str]

The list of joint names.

Return type:: list[str]

property positions: list[Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=None, order='C')]]

The list of joint configuration positions.

Return type:: list[Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order=’C’)]]

__repr__()

Return type:: str

class roboplan.roboplan_ext.core.JointTrajectory

Contains a trajectory of joint configurations.

property joint_names: list[str]

The list of joint names.

Return type:: list[str]

property times: list[float]

The list of times.

Return type:: list[float]

property positions: list[Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=None, order='C')]]

The list of joint positions.

Return type:: list[Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order=’C’)]]

property velocities: list[Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=None, order='C')]]

The list of joint velocities.

Return type:: list[Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order=’C’)]]

property accelerations: list[Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=None, order='C')]]

The list of joint acceleration.

Return type:: list[Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order=’C’)]]

__repr__()

Return type:: str

class roboplan.roboplan_ext.core.Box(x, y, z)

Temporary wrapper struct to represent a box geometry.

Parameters:

x (float)
y (float)
z (float)

class roboplan.roboplan_ext.core.Sphere(radius)

Temporary wrapper struct to represent a sphere geometry.

Parameters:: radius (float)

class roboplan.roboplan_ext.core.OcTree(boxes, resolution)

Temporary wrapper struct to represent a octree geometry.

Parameters:

boxes (collections.abc.Sequence[Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=6, order='C')]])
resolution (float)

class roboplan.roboplan_ext.core.Scene(name: str, urdf_path: str | os.PathLike, srdf_path: str | os.PathLike, package_paths: collections.abc.Sequence[str | os.PathLike] = [], yaml_config_path: str | os.PathLike = ...)

class roboplan.roboplan_ext.core.Scene(name, urdf, srdf, package_paths=[], yaml_config_path=...)

Primary scene representation for planning and control.

getName()

Gets the scene’s name.

Return type:: str

getJointNames()

Gets the scene’s full joint names, including mimic joints.

Return type:: list[str]

getActuatedJointNames()

Gets the scene’s actuated (non-mimic) joint names.

Return type:: list[str]

getJointInfo(joint_name)

Gets the information for a specific joint.

Parameters:: joint_name (str)
Return type:: JointInfo

configurationDistance(q_start, q_end)

Gets the distance between two joint configurations.

Parameters:

q_start (Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order='C')])
q_end (Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order='C')])

Return type:

float

setRngSeed(seed)

Sets the seed for the random number generator (RNG).

Parameters:: seed (int)
Return type:: None

randomPositions()

Generates random positions for the robot model.

Return type:: Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order=’C’)]

randomCollisionFreePositions(max_samples=1000)

Generates random collision-free positions for the robot model.

Parameters:: max_samples (int)
Return type:: Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order=’C’)] | None

hasCollisions(q, debug=False)

Checks collisions at specified joint positions.

Parameters:

q (Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order='C')])
debug (bool)

Return type:

bool

isValidPose(q)

Checks if the specified joint positions are valid with respect to joint limits.

Parameters:: q (Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order='C')])
Return type:: bool

applyMimics(q)

Applies mimic joint relationships to a position vector.

Parameters:: q (Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order='C')])
Return type:: Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order=’C’)]

toFullJointPositions(group_name, q)

Converts partial joint positions to full joint positions.

Parameters:

group_name (str)
q (Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order='C')])

Return type:

Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order=’C’)]

interpolate(q_start, q_end, fraction)

Interpolates between two joint configurations.

Parameters:

q_start (Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order='C')])
q_end (Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order='C')])
fraction (float)

Return type:

Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order=’C’)]

integrate(q, v)

Integrates a velocity vector from a configuration using Lie group operations.

Parameters:

q (Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order='C')])
v (Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order='C')])

Return type:

Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order=’C’)]

forwardKinematics(q, frame_name)

Calculates forward kinematics for a specific frame.

Parameters:

q (Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order='C')])
frame_name (str)

Return type:

Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(4, 4), order=’F’)]

computeFrameJacobian(q, frame_name, local=True)

Computes the frame Jacobian for a specific frame.

Parameters:

q (Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order='C')])
frame_name (str)
local (bool)

Return type:

Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, None), order=’F’)]

getFrameId(name)

Get the Pinocchio model ID of a frame by its name.

Parameters:: name (str)
Return type:: int

getJointGroupInfo(name)

Get the joint group information of a scene by its name.

Parameters:: name (str)
Return type:: JointGroupInfo

getCurrentJointPositions()

Get the current joint positions for the full robot state.

Return type:: Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order=’C’)]

setJointPositions(positions)

Set the joint positions for the full robot state.

Parameters:: positions (Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order='C')])
Return type:: None

getJointPositionIndices(joint_names)

Get the joint position indices for a set of joint names.

Parameters:: joint_names (collections.abc.Sequence[str])
Return type:: Annotated[numpy.typing.NDArray[numpy.int32], dict(shape=(None, ), order=’C’)]

getPositionLimitVectors(group_name='')

Get the joint position limit vectors for a specified group.

Parameters:: group_name (str)
Return type:: tuple[Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order=’C’)], Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order=’C’)]]

getVelocityLimitVectors(group_name='')

Get the joint velocity limit vectors for a specified group.

Parameters:: group_name (str)
Return type:: tuple[Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order=’C’)], Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order=’C’)]]

getAccelerationLimitVectors(group_name='')

Get the joint acceleration limit vectors for a specified group.

Parameters:: group_name (str)
Return type:: tuple[Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order=’C’)], Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order=’C’)]]

getJerkLimitVectors(group_name='')

Get the joint jerk limit vectors for a specified group.

Parameters:: group_name (str)
Return type:: tuple[Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order=’C’)], Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order=’C’)]]

addBoxGeometry(name, parent_frame, box, tform, color)

Adds a box geometry to the scene.

Parameters:

name (str)
parent_frame (str)
box (Box)
tform (Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(4, 4), order='F')])
color (Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=4, order='C')])

Return type:

None

addSphereGeometry(name, parent_frame, sphere, tform, color)

Adds a sphere geometry to the scene.

Parameters:

name (str)
parent_frame (str)
sphere (Sphere)
tform (Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(4, 4), order='F')])
color (Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=4, order='C')])

Return type:

None

addOcTreeGeometry(name, parent_frame, octree, tform, color)

Adds a octree geometry to the scene.

Parameters:

name (str)
parent_frame (str)
octree (OcTree)
tform (Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(4, 4), order='F')])
color (Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=4, order='C')])

Return type:

None

updateGeometryPlacement(name, parent_frame, tform)

Updates the placement of an object geometry in the scene.

Parameters:

name (str)
parent_frame (str)
tform (Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(4, 4), order='F')])

Return type:

None

removeGeometry(name)

Removes a geometry from the scene.

Parameters:: name (str)
Return type:: None

getCollisionGeometryIDs(body)

Gets a list of collision geometry IDs corresponding to a specified body.

Parameters:: body (str)
Return type:: list[int]

setCollisions(body1, body2, enable)

Sets the allowable collisions for a pair of bodies in the model.

Parameters:

body1 (str)
body2 (str)
enable (bool)

Return type:

None

__repr__()

Return type:: str

roboplan.roboplan_ext.core.computeFramePath(scene: Scene, q_start: Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=None, order='C')], q_end: Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=None, order='C')], frame_name: str, max_step_size: float) → list[Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=4, 4, order='F')]]
roboplan.roboplan_ext.core.computeFramePath(scene: Scene, q_vec: collections.abc.Sequence[Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=None, order='C')]], frame_name: str) → list[Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=4, 4, order='F')]]: Computes the Cartesian path of a specified frame using a vector of provided points.

roboplan.roboplan_ext.core.hasCollisionsAlongPath(scene, q_start, q_end, max_step_size, bisection=False)

Checks collisions along a specified configuration space path.

Parameters:

scene (Scene)
q_start (Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order='C')])
q_end (Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order='C')])
max_step_size (float)
bisection (bool)

Return type:

bool

class roboplan.roboplan_ext.core.PathShortcutter(scene, group_name)

Shortcuts joint paths with random sampling and checking connections.

Parameters:

scene (Scene)
group_name (str)

shortcut(path, max_step_size, max_iters=100, seed=0)

Attempts to shortcut a specified path.

Parameters:

path (JointPath)
max_step_size (float)
max_iters (int)
seed (int)

Return type:

JointPath

getPathLengths(path)

Computes configuration distances from the start to each pose in a path.

Parameters:: path (JointPath)
Return type:: Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order=’C’)]

getNormalizedPathScaling(path)

Computes length-normalized scaling values along a JointPath.

Parameters:: path (JointPath)
Return type:: Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order=’C’)]

getConfigurationfromNormalizedPathScaling(path, path_scalings, value)

Gets joint configurations from a path with normalized joint scalings.

Parameters:

path (JointPath)
path_scalings (Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order='C')])
value (float)

Return type:

tuple[Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order=’C’)], int]

roboplan.roboplan_ext.core.collapseContinuousJointPositions(scene, group_name, q_orig)

Collapses a joint position vector’s continuous joints for downstream algorithms.

Parameters:

scene (Scene)
group_name (str)
q_orig (Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order='C')])

Return type:

Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order=’C’)]

roboplan.roboplan_ext.core.expandContinuousJointPositions(scene, group_name, q_orig)

Expands a joint position vector’s continuous joints from downstream algorithms.

Parameters:

scene (Scene)
group_name (str)
q_orig (Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order='C')])

Return type:

Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order=’C’)]