pyroboplan package

Educational Python library for manipulator motion planning.

Subpackages

• pyroboplan.core package
  • Submodules
  • pyroboplan.core.planning_context module
    • PlanningContext
  • pyroboplan.core.utils module
    • calculate_collision_vector_and_jacobians()
    • check_collisions_along_path()
    • check_collisions_at_state()
    • check_within_limits()
    • configuration_distance()
    • extract_cartesian_pose()
    • extract_cartesian_poses()
    • get_collision_geometry_ids()
    • get_collision_pair_indices_from_bodies()
    • get_minimum_distance_at_state()
    • get_path_length()
    • get_random_collision_free_state()
    • get_random_collision_free_transform()
    • get_random_state()
    • get_random_transform()
    • set_collisions()
• pyroboplan.ik package
  • Submodules
  • pyroboplan.ik.differential_ik module
    • DifferentialIk
      • DifferentialIk.solve()
    • DifferentialIkOptions
  • pyroboplan.ik.nullspace_components module
    • collision_avoidance_nullspace_component()
    • joint_center_nullspace_component()
    • joint_limit_nullspace_component()
    • zero_nullspace_component()
• pyroboplan.models package
  • Submodules
  • pyroboplan.models.marble module
    • add_object_collisions()
    • load_models()
  • pyroboplan.models.panda module
    • add_object_collisions()
    • add_octree_collisions()
    • add_self_collisions()
    • load_models()
    • load_point_cloud()
  • pyroboplan.models.two_dof module
    • add_object_collisions()
    • load_models()
  • pyroboplan.models.ur10 module
    • add_ur10_on_base_self_collisions()
    • load_ur10_on_base_models()
  • pyroboplan.models.ur5 module
    • add_ur5_on_base_self_collisions()
    • load_ur5_on_base_models()
  • pyroboplan.models.utils module
    • get_example_models_folder()
• pyroboplan.planning package
  • Submodules
  • pyroboplan.planning.cartesian_planner module
    • CartesianPlanner
      • CartesianPlanner.generate()
    • CartesianPlannerOptions
  • pyroboplan.planning.graph module
    • Edge
      • Edge.parse()
    • Graph
      • Graph.add_edge()
      • Graph.add_node()
      • Graph.get_nearest_neighbors()
      • Graph.get_nearest_node()
      • Graph.get_node()
      • Graph.load_from_file()
      • Graph.remove_edge()
      • Graph.remove_node()
      • Graph.save_to_file()
    • Node
      • Node.parse()
  • pyroboplan.planning.graph_search module
    • astar()
    • dfs()
  • pyroboplan.planning.path_shortcutting module
    • get_configuration_from_normalized_path_scaling()
    • get_normalized_path_scaling()
    • shortcut_path()
  • pyroboplan.planning.prm module
    • PRMPlanner
      • PRMPlanner.connect_node()
      • PRMPlanner.connect_planning_nodes()
      • PRMPlanner.construct_roadmap()
      • PRMPlanner.plan()
      • PRMPlanner.reset()
      • PRMPlanner.visualize()
    • PRMPlannerOptions
    • random_model_state_generator()
  • pyroboplan.planning.rrt module
    • RRTPlanner
      • RRTPlanner.add_node_to_tree()
      • RRTPlanner.extend_or_connect()
      • RRTPlanner.extract_path_from_trees()
      • RRTPlanner.plan()
      • RRTPlanner.reset()
      • RRTPlanner.visualize()
    • RRTPlannerOptions
  • pyroboplan.planning.utils module
    • discretize_joint_space_path()
    • discretized_joint_space_generator()
    • extend_robot_state()
    • has_collision_free_path()
    • retrace_path()
• pyroboplan.trajectory package
  • Submodules
  • pyroboplan.trajectory.polynomial module
    • CubicPolynomialTrajectory
    • PolynomialTrajectoryBase
      • PolynomialTrajectoryBase.evaluate()
      • PolynomialTrajectoryBase.generate()
      • PolynomialTrajectoryBase.visualize()
    • QuinticPolynomialTrajectory
  • pyroboplan.trajectory.trajectory_optimization module
    • CubicTrajectoryOptimization
      • CubicTrajectoryOptimization.plan()
    • CubicTrajectoryOptimizationOptions
  • pyroboplan.trajectory.trapezoidal_velocity module
    • TrapezoidalVelocityTrajectory
      • TrapezoidalVelocityTrajectory.evaluate()
      • TrapezoidalVelocityTrajectory.generate()
      • TrapezoidalVelocityTrajectory.visualize()
    • TrapezoidalVelocityTrajectorySingleDofContainer
• pyroboplan.visualization package
  • Submodules
  • pyroboplan.visualization.meshcat_utils module
    • visualize_frame()
    • visualize_frames()
    • visualize_path()
    • visualize_paths()