core

Submodules

core._core_ext

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.
`CartesianPath`	Contains a path of Cartesian configurations.
`CartesianTrajectory`	Contains a trajectory of Cartesian configurations.
`Box`	Temporary wrapper struct to represent a box geometry.
`Sphere`	Temporary wrapper struct to represent a sphere geometry.
`Cylinder`	Temporary wrapper struct to represent a cylinder geometry.
`Mesh`	Temporary wrapper struct to represent a triangle mesh geometry.
`OcTree`	Temporary wrapper struct to represent a octree geometry.
`Scene`	Primary scene representation for planning and control.
`PathShortcuttingOptions`	Options struct for path shortcutting.
`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. Uses the Scene's own collision scratch, so it is not safe to call concurrently with other queries on the same Scene.
`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.

Package Contents

class core.JointConfiguration

class 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 core.CartesianConfiguration

class 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 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 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 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 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 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 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 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 core.CartesianPath

class core.CartesianPath(base_frames, tip_frames, tforms)

Contains a path of Cartesian configurations.

property base_frames: list[str]

The names of the base frames.

Return type:: list[str]

property tip_frames: list[str]

The names of the tip frames.

Return type:: list[str]

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

The list of Cartesian transforms.

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

__repr__()

Return type:: str

class core.CartesianTrajectory

class core.CartesianTrajectory(base_frames, tip_frames, times, tforms)

Contains a trajectory of Cartesian configurations.

property base_frames: list[str]

The names of the base frames.

Return type:: list[str]

property tip_frames: list[str]

The names of the tip frames.

Return type:: list[str]

property times: list[float]

The list of times.

Return type:: list[float]

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

The list of Cartesian transforms.

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

__repr__()

Return type:: str

class core.Box(x, y, z)

Temporary wrapper struct to represent a box geometry.

Parameters:

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

class core.Sphere(radius)

Temporary wrapper struct to represent a sphere geometry.

Parameters:: radius (float)

class core.Cylinder(radius, length)

Temporary wrapper struct to represent a cylinder geometry.

Parameters:

radius (float)
length (float)

class core.Mesh(filename, scale=...)

Temporary wrapper struct to represent a triangle mesh geometry.

Parameters:

filename (str | os.PathLike)
scale (Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=3, order='C')])

class 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 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 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 actuated joint names (non-mimic joints only).

Return type:: list[str]

getJointNamesWithMimics()

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

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

isValidConfiguration(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

clampToValidConfiguration(q)

Clamps the specified joint positions to valid joint limits.

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, base_frame='')

Calculates forward kinematics for a specific frame.

Parameters:

q (Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order='C')])
frame_name (str)
base_frame (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 Pinocchio configuration vector (model.nq).

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

getCurrentJointPositionsWithMimics()

Get current joint positions in getJointNamesWithMimics() order, including mimic values.

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='', collapsed=False)

Get the joint position limit vectors for a specified group.

Parameters:

group_name (str)
collapsed (bool)

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

addCylinderGeometry(name, parent_frame, cylinder, tform, color)

Adds a cylinder geometry to the scene.

Parameters:

name (str)
parent_frame (str)
cylinder (Cylinder)
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

addMeshGeometry(name, parent_frame, mesh, tform, color)

Adds a triangle mesh geometry to the scene.

Parameters:

name (str)
parent_frame (str)
mesh (Mesh)
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

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')]]
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.

core.hasCollisionsAlongPath(scene, q_start, q_end, max_step_size, bisection=False, check_endpoints=True)

Checks collisions along a specified configuration space path. Uses the Scene’s own collision scratch, so it is not safe to call concurrently with other queries on the same Scene.

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)
check_endpoints (bool)

Return type:

bool

class core.PathShortcuttingOptions(group_name='', max_step_size=0.05, max_iters=100, seed=0, max_convergence_iters=20, redundant_removal_iters=20)

Options struct for path shortcutting.

Parameters:

group_name (str)
max_step_size (float)
max_iters (int)
seed (int)
max_convergence_iters (int)
redundant_removal_iters (int)

property group_name: str

The joint group name to be used for path shortcutting.

Return type:: str

property max_step_size: float

Maximum step size used in collision checking, and the minimum separable distance between points in a shortcut.

Return type:: float

property max_iters: int

Maximum number of iterations of random sampling.

Return type:: int

property seed: int

Seed for the random generator. If < 0, a random seed is used.

Return type:: int

property max_convergence_iters: int

Stop early once this many consecutive iterations fail to apply a shortcut. A value of 0 disables early stopping.

Return type:: int

property redundant_removal_iters: int

Cadence (in iterations) at which to interleave the redundant-vertex removal pass that cleans up the micro-segments introduced by shortcutting.

Return type:: int

class core.PathShortcutter(scene, options)

Shortcuts joint paths with random sampling and checking connections.

Parameters:

scene (Scene)
options (PathShortcuttingOptions)

shortcut(path)

Attempts to shortcut a specified path.

Parameters:: path (JointPath)
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]

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’)]

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’)]