RoboPlan

https://roboplan.readthedocs.io/en/latest/
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RoboPlan is a robot motion planning library based on Pinocchio, providing trajectory generation and...
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### Roboplan IK Solver Setup and Usage Example

Source: https://roboplan.readthedocs.io/en/latest/concepts/inverse_kinematics.html

A comprehensive example demonstrating the setup of the Roboplan IK solver (Oink). It includes scene creation, task definition (FrameTask for end-effector tracking and ConfigurationTask for posture regularization), hard constraints (PositionLimit, VelocityLimit), and barrier functions.

```python
import numpy as np
from roboplan.core import Scene, CartesianConfiguration
from roboplan.optimal_ik import (
    ConfigurationTask, ConfigurationTaskOptions,
    FrameTask, FrameTaskOptions,
    Oink, PositionLimit, VelocityLimit,
    PositionBarrier, SelfCollisionBarrier,
)

# Scene + solver. urdf/srdf are XML strings (e.g. from xacro.process_file(...).toxml()).
scene = Scene("robot", urdf=urdf_xml, srdf=srdf_xml, package_paths=package_paths)
oink = Oink(scene, group_name="arm")
nv = len(oink.v_indices)                  # joint-group velocity dimension
dt = 0.01

# Primary task: track an SE(3) target with the end-effector frame.
goal = CartesianConfiguration()
goal.base_frame = "base_link"
goal.tip_frame = "tool0"
goal.tform = target_transform             # 4x4 SE(3) matrix

frame_task = FrameTask(oink, scene, goal, FrameTaskOptions(
    position_cost=1.0,
    orientation_cost=0.1,
    task_gain=1.0,
    lm_damping=0.01,
    max_position_error=0.1,               # keeps the CBF linearization valid
))

# Lower-priority posture regularization. priority=2 projects it into the FrameTask
# nullspace, so it only uses the redundant DoF the EE task leaves free.
posture_task = ConfigurationTask(
    oink,
    q_nominal[oink.q_indices],
    np.full(nv, 0.05),
    ConfigurationTaskOptions(priority=2),
)
tasks = [frame_task, posture_task]

# Hard constraints (exact enforcement).
constraints = [
    PositionLimit(oink, gain=1.0),
    VelocityLimit(oink, dt, v_max=np.ones(nv)),
]
```

--------------------------------

### SimpleIK Usage Example

Source: https://roboplan.readthedocs.io/en/latest/concepts/inverse_kinematics.html

Demonstrates how to set up and use the SimpleIK solver to find a joint configuration for a given Cartesian goal. Requires scene setup, IK options, and defining the goal and start configurations.

```python
import numpy as np
from roboplan.core import Scene, JointConfiguration, CartesianConfiguration
from roboplan.simple_ik import SimpleIkOptions, SimpleIk

# Setup
scene = Scene("robot", urdf_path, srdf_path, package_paths)

options = SimpleIkOptions(
    group_name="arm",
    step_size=0.25,
    max_linear_error_norm=0.001,
    max_angular_error_norm=0.001,
    check_collisions=True
)
ik_solver = SimpleIk(scene, options)

# Define goal
goal = CartesianConfiguration()
goal.base_frame = "base"
goal.tip_frame = "tool0"
goal.tform = target_transform  # 4x4 SE(3) matrix

# Solve
start = JointConfiguration()
start.positions = np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0])  # initial configuration
solution = JointConfiguration()

success = ik_solver.solveIk(goal, start, solution)

```

--------------------------------

### Run Python Example with Pixi Shell

Source: https://roboplan.readthedocs.io/en/latest/getting_started/installation.html

Execute a Python example after building and entering the Pixi shell.

```bash
python3 roboplan_examples/python/example_ik.py

```

--------------------------------

### Run a RoboPlan Python Example

Source: https://roboplan.readthedocs.io/en/latest/_sources/getting_started/installation.rst.txt

Execute a sample Python script from the RoboPlan repository to test the installation. This example demonstrates the inverse kinematics functionality.

```bash
python roboplan/roboplan_examples/python/example_ik.py
```

--------------------------------

### Run RoboPlan Python Example

Source: https://roboplan.readthedocs.io/en/latest/getting_started/installation.html

Execute a sample Python example script from the cloned repository.

```bash
python roboplan/roboplan_examples/python/example_ik.py

```

--------------------------------

### Install All Packages with Pixi

Source: https://roboplan.readthedocs.io/en/latest/getting_started/installation.html

Use Pixi to install all packages.

```bash
# Install all packages
pixi run install_all

```

--------------------------------

### Run C++ Example with Pixi Shell

Source: https://roboplan.readthedocs.io/en/latest/getting_started/installation.html

Execute a C++ example after building and entering the Pixi shell.

```bash
pixi shell
./build/roboplan_examples/cpp/example_scene

```

--------------------------------

### Configure and Solve with SimpleIK

Source: https://roboplan.readthedocs.io/en/latest/_sources/concepts/inverse_kinematics.rst.txt

Demonstrates setting up and using the SimpleIK solver for inverse kinematics. It requires scene setup, defining IK options, and then solving for a target Cartesian configuration from a starting joint configuration.

```python
import numpy as np
from roboplan.core import Scene, JointConfiguration, CartesianConfiguration
from roboplan.simple_ik import SimpleIkOptions, SimpleIk

# Setup
scene = Scene("robot", urdf_path, srdf_path, package_paths)

options = SimpleIkOptions(
    group_name="arm",
    step_size=0.25,
    max_linear_error_norm=0.001,
    max_angular_error_norm=0.001,
    check_collisions=True
)
ik_solver = SimpleIk(scene, options)

# Define goal
goal = CartesianConfiguration()
goal.base_frame = "base"
goal.tip_frame = "tool0"
goal.tform = target_transform  # 4x4 SE(3) matrix

# Solve
start = JointConfiguration()
start.positions = np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0])  # initial configuration
solution = JointConfiguration()

success = ik_solver.solveIk(goal, start, solution)
```

--------------------------------

### Run ROS 2 Example IK (Python)

Source: https://roboplan.readthedocs.io/en/latest/getting_started/installation.html

Source the ROS 2 workspace and run a Python Inverse Kinematics example.

```bash
ros2 run roboplan_examples example_ik.py

```

--------------------------------

### Run Vanilla CMake Example Scene

Source: https://roboplan.readthedocs.io/en/latest/getting_started/installation.html

Run a C++ example scene within the Docker container built with vanilla CMake.

```bash
docker compose run ubuntu bash
./build/roboplan_examples/cpp/example_scene

```

--------------------------------

### Install Documentation Requirements

Source: https://roboplan.readthedocs.io/en/latest/_sources/getting_started/contributor_guide.rst.txt

Installs the necessary Python packages for generating documentation. It is recommended to use a virtual environment for this.

```bash
pip3 install -r python_docs_requirements.txt
```

--------------------------------

### Run C++ Example in Docker Container

Source: https://roboplan.readthedocs.io/en/latest/_sources/getting_started/installation.rst.txt

Execute a C++ example within the RoboPlan Docker container after starting a bash shell. This demonstrates running compiled C++ code in the isolated environment.

```bash
./build/roboplan_examples/cpp/example_scene
```

--------------------------------

### Install All Packages with Pixi

Source: https://roboplan.readthedocs.io/en/latest/_sources/getting_started/installation.rst.txt

Use Pixi to install all built packages. This makes the libraries and executables available in the current environment.

```bash
pixi run install_all
```

--------------------------------

### Run ROS 2 Example Scene

Source: https://roboplan.readthedocs.io/en/latest/getting_started/installation.html

Source the ROS 2 workspace and run a C++ example scene.

```bash
source install/setup.bash
ros2 run roboplan_examples example_scene

```

--------------------------------

### OInK Usage Example

Source: https://roboplan.readthedocs.io/en/latest/_sources/concepts/inverse_kinematics.rst.txt

A comprehensive example demonstrating how to set up and use the OInK solver for inverse kinematics. It includes defining a scene, tasks, constraints, and barriers, and performing a single control step.

```python
import numpy as np
from roboplan.core import Scene, CartesianConfiguration
from roboplan.optimal_ik import (
    ConfigurationTask, ConfigurationTaskOptions,
    FrameTask, FrameTaskOptions,
    Oink, PositionLimit, VelocityLimit,
    PositionBarrier, SelfCollisionBarrier,
)

# Scene + solver. urdf/srdf are XML strings (e.g. from xacro.process_file(...).toxml()).
scene = Scene("robot", urdf=urdf_xml, srdf=srdf_xml, package_paths=package_paths)
oink = Oink(scene, group_name="arm")
nv = len(oink.v_indices)                  # joint-group velocity dimension
dt = 0.01

# Primary task: track an SE(3) target with the end-effector frame.
goal = CartesianConfiguration()
goal.base_frame = "base_link"
goal.tip_frame = "tool0"
goal.tform = target_transform             # 4x4 SE(3) matrix

frame_task = FrameTask(oink, scene, goal, FrameTaskOptions(
    position_cost=1.0,
    orientation_cost=0.1,
    task_gain=1.0,
    lm_damping=0.01,
    max_position_error=0.1,               # keeps the CBF linearization valid
))

# Lower-priority posture regularization. priority=2 projects it into the FrameTask
# nullspace, so it only uses the redundant DoF the EE task leaves free.
posture_task = ConfigurationTask(
    oink,
    q_nominal[oink.q_indices],
    np.full(nv, 0.05),
    ConfigurationTaskOptions(priority=2),
)
tasks = [frame_task, posture_task]

# Hard constraints (exact enforcement).
constraints = [
    PositionLimit(oink, gain=1.0),
    VelocityLimit(oink, dt, v_max=np.ones(nv)),
]

# Barriers (smooth safety).
barriers = [
    PositionBarrier(
        oink, scene,
        frame_name="tool0",
        p_min=np.array([-0.5, -0.5, 0.1]),
        p_max=np.array([0.5, 0.5, 1.0]),
        dt=dt,
        gain=5.0,
        safety_margin=0.01,
    ),
    SelfCollisionBarrier(
        oink, scene,
        n_collision_pairs=4,              # track the 4 closest pairs each step
        dt=dt,
        gain=0.01,
        d_min=0.02,
    ),
]

# One control step.
delta_q = np.zeros(nv)
oink.solveIk(scene, tasks, constraints, barriers, delta_q, regularization=1e-6)
```

--------------------------------

### Run Python Example in Pixi Shell

Source: https://roboplan.readthedocs.io/en/latest/_sources/getting_started/installation.rst.txt

Execute a Python example after entering the Pixi shell. This demonstrates running Python scripts within the managed environment.

```bash
pixi shell
python3 roboplan_examples/python/example_ik.py
```

--------------------------------

### Run Python Example in Docker Container

Source: https://roboplan.readthedocs.io/en/latest/_sources/getting_started/installation.rst.txt

Execute a Python example within the RoboPlan Docker container after starting a bash shell. This demonstrates running Python scripts in the isolated environment.

```bash
python3 roboplan_examples/python/example_ik.py
```

--------------------------------

### Run ROS 2 C++ Example

Source: https://roboplan.readthedocs.io/en/latest/_sources/getting_started/installation.rst.txt

Execute a C++ example provided by RoboPlan within a ROS 2 environment after building the workspace. This demonstrates running ROS 2 nodes.

```bash
source install/setup.bash
ros2 run roboplan_examples example_scene
```

--------------------------------

### Run C++ Example in Pixi Shell

Source: https://roboplan.readthedocs.io/en/latest/_sources/getting_started/installation.rst.txt

Execute a C++ example after entering the Pixi shell. This demonstrates running compiled C++ code within the managed environment.

```bash
pixi shell
./build/roboplan_examples/cpp/example_scene
```

--------------------------------

### Install a Specific Package with Pixi

Source: https://roboplan.readthedocs.io/en/latest/_sources/getting_started/installation.rst.txt

Install a single, specified package using Pixi. This makes the package available for use.

```bash
pixi run install PACKAGE_NAME
```

--------------------------------

### get_install_prefix

Source: https://roboplan.readthedocs.io/en/latest/_sources/autoapi/example_models/_example_models_ext/index.rst.txt

Provides compile-time access to the resources install directory.

```APIDOC
## get_install_prefix

### Description
Provides compile time access to the resources install directory.

### Method
GET

### Endpoint
/example_models/_example_models_ext/get_install_prefix

### Response
#### Success Response (200)
- **install_prefix** (string) - The path to the resources install directory.
```

--------------------------------

### Install RoboPlan with Conda

Source: https://roboplan.readthedocs.io/en/latest/getting_started/installation.html

Create a new conda environment and install RoboPlan with Python bindings.

```bash
conda create -n roboplan -c conda-forge roboplan-python roboplan-rrt-python roboplan-simple-ik-python roboplan-oink-python roboplan-toppra-python
conda activate roboplan

```

--------------------------------

### Build Documentation with Make

Source: https://roboplan.readthedocs.io/en/latest/getting_started/contributor_guide.html

Generate the HTML documentation after installing requirements. This command first removes the old build directory and then builds the new documentation.

```bash
rm -rf build/
make html

```

--------------------------------

### roboplan::example_models

Source: https://roboplan.readthedocs.io/en/latest/api_cpp.html

Utility functions for accessing example robot models.

```APIDOC
## roboplan::example_models

### Description
Utility functions for accessing example robot models.

### Methods
* **get_install_prefix()**: Gets the installation prefix for example models.
* **get_package_share_dir()**: Gets the share directory for example models.
* **get_package_models_dir()**: Gets the models directory for example models.
```

--------------------------------

### Run ROS 2 Python Example

Source: https://roboplan.readthedocs.io/en/latest/_sources/getting_started/installation.rst.txt

Execute a Python example provided by RoboPlan within a ROS 2 environment after building the workspace. This demonstrates running Python scripts as ROS 2 nodes.

```bash
source install/setup.bash
ros2 run roboplan_examples example_ik.py
```

--------------------------------

### initializeTree

Source: https://roboplan.readthedocs.io/en/latest/api_cpp.html

Initializes the search tree with a specified start pose.

```APIDOC
## initializeTree

### Description
Initializes the search tree with the specified start pose.

### Method
`void initializeTree(KdTree &tree, std::vector<Node> &nodes, const Eigen::VectorXd &q_init, size_t max_size = 1000)`

### Parameters
#### Path Parameters
None

#### Query Parameters
None

#### Request Body
None

### Request Example
None

### Response
#### Success Response (200)
None

#### Response Example
None
```

--------------------------------

### Import RoboPlan Python Bindings

Source: https://roboplan.readthedocs.io/en/latest/getting_started/installation.html

Verify the installation by importing the roboplan Python module.

```python
>>> import roboplan

```

--------------------------------

### Build ROS 2 Workspace with Colcon

Source: https://roboplan.readthedocs.io/en/latest/getting_started/installation.html

Source ROS 2, install dependencies, and build the workspace using colcon.

```bash
source /opt/ros/rolling/setup.bash
cd ~/roboplan_ws
rosdep install --from-paths src -y --ignore-src
colcon build

```

--------------------------------

### Solving IK and Enforcing Barriers

Source: https://roboplan.readthedocs.io/en/latest/_sources/autoapi/optimal_ik/index.rst.txt

Example demonstrating how to solve an inverse kinematics problem and then enforce barrier constraints on the resulting configuration displacement. The `delta_q` is modified in place if a barrier violation is detected.

```python
delta_q = np.zeros(oink.num_variables)
oink.solveIk(scene, tasks, constraints, barriers, delta_q)
oink.enforceBarriers(scene, barriers, delta_q)
```

--------------------------------

### getName

Source: https://roboplan.readthedocs.io/en/latest/autoapi/core/index.html

Gets the scene’s name.

```APIDOC
## getName

### Description
Gets the scene’s name.

### Return type
str
```

--------------------------------

### plan

Source: https://roboplan.readthedocs.io/en/latest/api_cpp.html

Plans a path from a start joint configuration to a goal joint configuration using the RRT algorithm.

```APIDOC
## plan

### Description
Plans a path from start to goal using the RRT algorithm.

### Method
`tl::expected<JointPath, std::string> plan(const JointConfiguration &start, const JointConfiguration &goal)`

### Parameters
#### Path Parameters
None

#### Query Parameters
None

#### Request Body
None

### Request Example
None

### Response
#### Success Response (200)
A joint-space path, if planning succeeds.

#### Response Example
None

### Error Handling
Returns an error message if planning fails.
```

--------------------------------

### Create and Activate Conda Environment

Source: https://roboplan.readthedocs.io/en/latest/_sources/getting_started/installation.rst.txt

Create a new conda environment named 'roboplan' and install RoboPlan and its Python bindings. This isolates dependencies and prepares the environment for use.

```bash
conda create -n roboplan -c conda-forge roboplan-python roboplan-rrt-python roboplan-simple-ik-python roboplan-oink-python roboplan-toppra-python
conda activate roboplan
```

--------------------------------

### get_package_models_dir

Source: https://roboplan.readthedocs.io/en/latest/_sources/autoapi/example_models/_example_models_ext/index.rst.txt

Provides compile-time access to the directory under the resources shared directory which contains all the example robot models.

```APIDOC
## get_package_models_dir

### Description
Provides compile time access to the directory under the resources shared directory which contains all the example robot models.

### Method
GET

### Endpoint
/example_models/_example_models_ext/get_package_models_dir

### Response
#### Success Response (200)
- **models_dir** (string) - The path to the directory containing example robot models.
```

--------------------------------

### Build RoboPlan Workspace with Colcon

Source: https://roboplan.readthedocs.io/en/latest/_sources/getting_started/installation.rst.txt

Build the RoboPlan workspace using the colcon build system after cloning the repository into the ROS 2 workspace. This command also handles dependency installation.

```bash
source /opt/ros/rolling/setup.bash
cd ~/roboplan_ws
rosdep install --from-paths src -y --ignore-src
colcon build
```

--------------------------------

### Build Documentation

Source: https://roboplan.readthedocs.io/en/latest/_sources/getting_started/contributor_guide.rst.txt

Generates the HTML documentation for the project. This command should be run from the 'docs' subfolder of the repository.

```bash
rm -rf build/
make html
```

--------------------------------

### Build All Packages with Pixi

Source: https://roboplan.readthedocs.io/en/latest/getting_started/installation.html

Use Pixi to build all packages, including Python bindings.

```bash
# Build all packages, including Python bindings
pixi run build_all

```

--------------------------------

### Open Generated Documentation

Source: https://roboplan.readthedocs.io/en/latest/_sources/getting_started/contributor_guide.rst.txt

Opens the locally generated HTML documentation in the default web browser. The documentation is typically found in the 'build/html' directory.

```bash
open build/html/index.html
```

--------------------------------

### getJointInfo

Source: https://roboplan.readthedocs.io/en/latest/autoapi/core/index.html

Gets the information for a specific joint.

```APIDOC
## getJointInfo

### Description
Gets the information for a specific joint.

### Parameters
#### Path Parameters
- **joint_name** (str) - Required - The name of the joint.

### Return type
JointInfo
```

--------------------------------

### configurationDistance

Source: https://roboplan.readthedocs.io/en/latest/autoapi/core/index.html

Gets the distance between two joint configurations.

```APIDOC
## configurationDistance

### Description
Gets the distance between two joint configurations.

### Parameters
#### Path Parameters
- **q_start** (Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order=’C’)]) - Required - The starting joint configuration.
- **q_end** (Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(None, ), order=’C’)]) - Required - The ending joint configuration.

### Return type
float
```

--------------------------------

### Build Package with AddressSanitizer (Pixi)

Source: https://roboplan.readthedocs.io/en/latest/getting_started/installation.html

Build a specific package with AddressSanitizer enabled using Pixi.

```bash
pixi run build_asan PACKAGE_NAME

```

--------------------------------

### getModel

Source: https://roboplan.readthedocs.io/en/latest/api_cpp.html

Gets the scene's internal Pinocchio model.

```APIDOC
## getModel

### Description
Gets the scene's internal Pinocchio model.

### Returns
The Pinocchio model.
```

--------------------------------

### getCurrentJointPositions

Source: https://roboplan.readthedocs.io/en/latest/_sources/autoapi/core/index.rst.txt

Get the current Pinocchio configuration vector (model.nq).

```APIDOC
## getCurrentJointPositions

### Description
Get the current Pinocchio configuration vector (model.nq).
```

--------------------------------

### Open Generated Documentation

Source: https://roboplan.readthedocs.io/en/latest/getting_started/contributor_guide.html

Open the locally generated HTML documentation in your web browser to review the changes.

```bash
open build/html/index.html

```

--------------------------------

### getJointGroupInfo

Source: https://roboplan.readthedocs.io/en/latest/_sources/autoapi/core/index.rst.txt

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

```APIDOC
## getJointGroupInfo

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

### Parameters
- **name**: The name of the joint group.
```

--------------------------------

### getFrameId

Source: https://roboplan.readthedocs.io/en/latest/_sources/autoapi/core/index.rst.txt

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

```APIDOC
## getFrameId

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

### Parameters
- **name**: The name of the frame.
```

--------------------------------

### Oink Constructor (Scene, Custom Settings)

Source: https://roboplan.readthedocs.io/en/latest/api_cpp.html

Constructs an Oink solver for the full robot with custom OSQP settings. This overload is for optimizing the entire robot's configuration with specific solver parameters.

```APIDOC
## Oink(const Scene &scene, const OsqpEigen::Settings &custom_settings)

### Description
Constructs an Oink solver for the full robot with custom OSQP settings. Equivalent to Oink(scene, "", custom_settings).
```

--------------------------------

### Build Docker Image for Ubuntu

Source: https://roboplan.readthedocs.io/en/latest/getting_started/installation.html

Build the Docker image for compiling RoboPlan on Ubuntu.

```bash
export UBUNTU_VERSION=24.04
docker compose build ubuntu

```

--------------------------------

### PositionLimit::getNumConstraints

Source: https://roboplan.readthedocs.io/en/latest/api_cpp.html

Gets the number of constraint rows for the PositionLimit constraint.

```APIDOC
## PositionLimit::getNumConstraints

### Description
Get the number of constraint rows (number_variables).

### Method
`virtual int getNumConstraints(const Scene &scene) const override`

### Parameters
#### Path Parameters
- **scene** (Scene) - The scene containing robot state and model.

### Returns
Number of constraint rows.
```

--------------------------------

### SimpleIkOptions

Source: https://roboplan.readthedocs.io/en/latest/_sources/autoapi/simple_ik/_simple_ik_ext/index.rst.txt

Configuration options for the Simple IK solver.

```APIDOC
## Class: SimpleIkOptions

### Description
Options struct for simple IK solver.

### Properties
- **group_name** (str) - The joint group name to be used by the solver.
- **max_iters** (int) - Max iterations for one try of the solver.
- **max_time** (float) - Max total computation time, in seconds.
- **max_restarts** (int) - Maximum number of restarts until success.
- **step_size** (float) - The integration step for the solver.
- **damping** (float) - Damping value for the Jacobian pseudoinverse.
- **max_linear_error_norm** (float) - The maximum linear error norm, in meters.
- **max_angular_error_norm** (float) - The maximum angular error norm, in radians.
- **check_collisions** (bool) - Whether to check collisions.
- **fast_return** (bool) - If true, returns when the first ik solution is found.
```

--------------------------------

### getCollisionModel

Source: https://roboplan.readthedocs.io/en/latest/api_cpp.html

Gets the scene's internal Pinocchio collision model.

```APIDOC
## getCollisionModel

### Description
Gets the scene's internal Pinocchio collision model.

### Returns
The Pinocchio collision (geometry) model.
```

--------------------------------

### getData

Source: https://roboplan.readthedocs.io/en/latest/api_cpp.html

Gets the scene's internal Pinocchio data (read-only).

```APIDOC
## getData

### Description
Gets the scene's internal Pinocchio data. This data is read-only.

### Returns
The Pinocchio data.
```

--------------------------------

### Test All Packages with Pixi

Source: https://roboplan.readthedocs.io/en/latest/getting_started/installation.html

Run all unit tests for the packages using Pixi.

```bash
# Test all packages
pixi run test_all

```

--------------------------------

### getJerkLimitVectors

Source: https://roboplan.readthedocs.io/en/latest/_sources/autoapi/core/index.rst.txt

Get the joint jerk limit vectors for a specified group.

```APIDOC
## getJerkLimitVectors

### Description
Get the joint jerk limit vectors for a specified group.

### Parameters
- **group_name** (Optional): The name of the joint group. Defaults to ''.
```

--------------------------------

### Build All with Pixi

Source: https://roboplan.readthedocs.io/en/latest/_sources/getting_started/contributor_guide.rst.txt

Ensures that stub files for Python bindings are up-to-date by building the project using the 'ci' environment in Pixi. This method guarantees the build is done via copy, not symbolic links.

```bash
pixi run -e ci build_all
```

--------------------------------

### Lint Code with Pixi

Source: https://roboplan.readthedocs.io/en/latest/getting_started/installation.html

Run code linting for the project using Pixi.

```bash
pixi run lint

```

--------------------------------

### getAccelerationLimitVectors

Source: https://roboplan.readthedocs.io/en/latest/_sources/autoapi/core/index.rst.txt

Get the joint acceleration limit vectors for a specified group.

```APIDOC
## getAccelerationLimitVectors

### Description
Get the joint acceleration limit vectors for a specified group.

### Parameters
- **group_name** (Optional): The name of the joint group. Defaults to ''.
```

--------------------------------

### getVelocityLimitVectors

Source: https://roboplan.readthedocs.io/en/latest/_sources/autoapi/core/index.rst.txt

Get the joint velocity limit vectors for a specified group.

```APIDOC
## getVelocityLimitVectors

### Description
Get the joint velocity limit vectors for a specified group.

### Parameters
- **group_name** (Optional): The name of the joint group. Defaults to ''.
```

--------------------------------

### Build a Specific Package with Pixi

Source: https://roboplan.readthedocs.io/en/latest/_sources/getting_started/installation.rst.txt

Build a single, specified package using Pixi. Ensure that its dependencies have already been built.

```bash
pixi run build PACKAGE_NAME
```

--------------------------------

### getPositionLimitVectors

Source: https://roboplan.readthedocs.io/en/latest/_sources/autoapi/core/index.rst.txt

Get the joint position limit vectors for a specified group.

```APIDOC
## getPositionLimitVectors

### Description
Get the joint position limit vectors for a specified group.

### Parameters
- **group_name** (Optional): The name of the joint group. Defaults to ''.
- **collapsed** (Optional): Whether to return collapsed limits. Defaults to False.
```

--------------------------------

### Build Package with Compilation Time Report using Pixi

Source: https://roboplan.readthedocs.io/en/latest/_sources/getting_started/installation.rst.txt

Build a specific package and generate a compilation time report using Pixi. This helps in identifying performance bottlenecks during compilation.

```bash
pixi run build_timetrace PACKAGE_NAME
```

--------------------------------

### getJointPositionIndices

Source: https://roboplan.readthedocs.io/en/latest/_sources/autoapi/core/index.rst.txt

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

```APIDOC
## getJointPositionIndices

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

### Parameters
- **joint_names**: A list of joint names.
```

--------------------------------

### SimpleIkOptions

Source: https://roboplan.readthedocs.io/en/latest/api_cpp.html

Options struct for the simple IK solver, allowing customization of parameters like iteration limits, time constraints, and collision checking.

```APIDOC
## SimpleIkOptions

### Description
Options struct for the simple IK solver, allowing customization of parameters like iteration limits, time constraints, and collision checking.

### Members
* **group_name** (std::string) - The joint group name to be used by the solver. Defaults to "".
* **max_iters** (size_t) - Max iterations for one try of the solver. Defaults to 100.
* **max_time** (double) - Max total computation time, in seconds. Defaults to 0.005.
* **max_restarts** (size_t) - Maximum number of restarts until success. Defaults to 2.
* **step_size** (double) - The integration step for the solver. Defaults to 0.01.
* **damping** (double) - Damping value for the Jacobian pseudoinverse. Defaults to 0.001.
* **max_linear_error_norm** (double) - The maximum linear error norm, in meters. Defaults to 0.001.
* **max_angular_error_norm** (double) - The maximum angular error norm, in radians. Defaults to 0.001.
* **check_collisions** (bool) - Whether to check collisions. Defaults to true.
* **fast_return** (bool) - If true, returns when the first IK solution is found. Otherwise, the entire time budget will be consumed to attempt to find a solution that is closest to the starting configuration. Defaults to true.
```

--------------------------------

### getCollisionData

Source: https://roboplan.readthedocs.io/en/latest/api_cpp.html

Gets the scene's internal Pinocchio collision (geometry) data.

```APIDOC
## getCollisionData

### Description
Gets the scene's internal Pinocchio collision (geometry) data. This data is shared with the scene; computations such as hasCollisions() and computeCollisionDistances() write into this data.

### Returns
The Pinocchio collision (geometry) data.
```

--------------------------------

### getJointNames

Source: https://roboplan.readthedocs.io/en/latest/autoapi/core/index.html

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

```APIDOC
## getJointNames

### Description
Gets the scene’s actuated joint names (non-mimic joints only).

### Return type
list[str]
```

--------------------------------

### getCollisionGeometryIDs

Source: https://roboplan.readthedocs.io/en/latest/_sources/autoapi/core/index.rst.txt

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

```APIDOC
## getCollisionGeometryIDs

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

### Parameters
- **body**: The body for which to get collision geometry IDs.
```

--------------------------------

### PositionLimit::computeQpConstraints

Source: https://roboplan.readthedocs.io/en/latest/api_cpp.html

Computes the QP constraint matrices and bounds for position limits.

```APIDOC
## PositionLimit::computeQpConstraints

### Description
Compute QP constraint matrices for position limits. The constraint is formulated as: l <= G*dq <= u where G is an identity matrix, and the bounds are computed based on the distance to limits.

### Method
`virtual tl::expected<void, std::string> computeQpConstraints(const Scene &scene, Eigen::Ref<Eigen::MatrixXd> constraint_matrix, Eigen::Ref<Eigen::VectorXd> lower_bounds, Eigen::Ref<Eigen::VectorXd> upper_bounds) const override`

### Parameters
#### Path Parameters
- **scene** (Scene) - The scene containing robot state and model.
- **constraint_matrix** (Eigen::Ref<Eigen::MatrixXd>) - Output constraint matrix G (number_variables × number_variables).
- **lower_bounds** (Eigen::Ref<Eigen::VectorXd>) - Output lower bounds vector (number_variables).
- **upper_bounds** (Eigen::Ref<Eigen::VectorXd>) - Output upper bounds vector (number_variables).

### Returns
void on success, error message on failure.
```

--------------------------------

### getPathLengths

Source: https://roboplan.readthedocs.io/en/latest/api_cpp.html

Computes the cumulative path lengths from the start to each configuration in a given path.

```APIDOC
## getPathLengths

### Description
Computes configuration distances from the start to each pose in a path. This is useful for understanding the total length and distribution of distances along a trajectory.

### Parameters
#### Path Parameters
- **path** (JointPath) - The JointPath to evaluate.

### Returns
A vector of incremental path distances, if there is sufficient data. Otherwise an error.
```

--------------------------------

### PathShortcutter.getPathLengths

Source: https://roboplan.readthedocs.io/en/latest/_sources/autoapi/core/index.rst.txt

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

```APIDOC
## getPathLengths

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

### Parameters
- **path**: The joint path.
```

--------------------------------

### evaluateAtConfiguration

Source: https://roboplan.readthedocs.io/en/latest/api_cpp.html

Evaluates the minimum barrier value at a candidate configuration using Forward Kinematics (FK). This is useful for post-solve validation and detecting linearization errors in the QP formulation. It computes the actual barrier value at a given configuration `q`.

```APIDOC
## evaluateAtConfiguration

### Description
Evaluate the minimum barrier value at a candidate configuration using FK. This method allows post-solve validation by computing the actual barrier value at a candidate configuration q, independent of the linearized constraint used in the QP. Used by Oink::enforceBarriers() to detect linearization errors.

### Method
virtual

### Endpoint
N/A (C++ method)

### Parameters
#### Path Parameters
N/A

#### Query Parameters
N/A

#### Request Body
N/A

### Request Example
N/A

### Response
#### Success Response
- **double** - Expected containing minimum barrier value across all barrier constraints, or infinity if this barrier type does not support configuration evaluation.

#### Response Example
N/A

ERROR HANDLING:
- Returns error message if evaluation fails (e.g., frame not found).
```

--------------------------------

### Oink Constructor (Scene, Group Name, Custom Settings)

Source: https://roboplan.readthedocs.io/en/latest/api_cpp.html

Constructs an Oink solver for a named joint group with custom OSQP settings. This allows for fine-tuning the optimization process.

```APIDOC
## Oink(const Scene &scene, const std::string &group_name, const OsqpEigen::Settings &custom_settings)

### Description
Constructs an Oink solver for a named joint group with custom OSQP settings.

### Parameters
* **scene** (const Scene&) - The scene used to resolve the group at construction time.
* **group_name** (const std::string&) - Joint group name. Pass an empty string for the full robot.
* **custom_settings** (const OsqpEigen::Settings&) - Custom OSQP solver settings.

### Throws
std::runtime_error – if group_name is not found in the scene.
```

--------------------------------

### roboplan::SimpleIkOptions

Source: https://roboplan.readthedocs.io/en/latest/api_cpp.html

Options for configuring the Simple Inverse Kinematics solver.

```APIDOC
## Class: roboplan::SimpleIkOptions

### Description
Provides configuration parameters for the Simple Inverse Kinematics solver.

### Fields
- **group_name** (string) - The name of the joint group to consider.
- **max_iters** (int) - Maximum number of iterations for the solver.
- **max_time** (double) - Maximum time allowed for the solver in seconds.
- **max_restarts** (int) - Maximum number of restarts for the solver.
- **step_size** (double) - The step size for the solver.
- **damping** (double) - Damping factor for the solver.
- **max_linear_error_norm** (double) - Maximum allowed linear error norm.
- **max_angular_error_norm** (double) - Maximum allowed angular error norm.
- **check_collisions** (bool) - Whether to check for collisions.
- **fast_return** (bool) - Whether to return as soon as a solution is found.
```

--------------------------------

### getJointNamesWithMimics

Source: https://roboplan.readthedocs.io/en/latest/autoapi/core/index.html

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

```APIDOC
## getJointNamesWithMimics

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

### Return type
list[str]
```

--------------------------------

### SimpleIk Constructor

Source: https://roboplan.readthedocs.io/en/latest/api_cpp.html

Constructs a SimpleIk solver instance. It requires a pointer to the scene and a struct containing options for the IK solver.

```APIDOC
## SimpleIk Constructor

### Description
Constructs a SimpleIk solver instance. It requires a pointer to the scene and a struct containing options for the IK solver.

### Signature
SimpleIk(const std::shared_ptr<Scene> scene, const SimpleIkOptions &options)

### Parameters
* **scene** (std::shared_ptr<Scene>) - A pointer to the scene to use for solving IK.
* **options** (const SimpleIkOptions &) - A struct containing IK solver options.
```

--------------------------------

### getCurrentJointPositionsWithMimics

Source: https://roboplan.readthedocs.io/en/latest/_sources/autoapi/core/index.rst.txt

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

```APIDOC
## getCurrentJointPositionsWithMimics

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

--------------------------------

### getNodes

Source: https://roboplan.readthedocs.io/en/latest/api_cpp.html

Returns the node vectors for both the start and goal trees, primarily for visualization purposes.

```APIDOC
## getNodes

### Description
Returns the start and goal trees’ node vectors, for visualization purposes.

### Method
`inline std::pair<std::vector<Node>, std::vector<Node>> getNodes()`

### Parameters
#### Path Parameters
None

#### Query Parameters
None

#### Request Body
None

### Request Example
None

### Response
#### Success Response (200)
A pair containing the node vectors for the start and goal trees.

#### Response Example
None
```

--------------------------------

### Run All Tests with Vanilla CMake Script

Source: https://roboplan.readthedocs.io/en/latest/getting_started/installation.html

Execute all unit tests using the provided bash script for vanilla CMake builds.

```bash
scripts/run_tests.bash

```

--------------------------------

### RRT Constructor

Source: https://roboplan.readthedocs.io/en/latest/api_cpp.html

Initializes the RRT motion planner with a given scene and options.

```APIDOC
## RRT Constructor

### Description
Initializes the RRT motion planner with a given scene and options.

### Method
Constructor

### Parameters
#### Path Parameters
None

#### Query Parameters
None

#### Request Body
None

### Request Example
None

### Response
#### Success Response (200)
None

#### Response Example
None
```

--------------------------------

### getPathLengths

Source: https://roboplan.readthedocs.io/en/latest/autoapi/core/index.html

Computes configuration distances from the start to each pose in a path. Returns an array of distances.

```APIDOC
## getPathLengths

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

### Parameters
* **path** (JointPath_) - The path object.

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

--------------------------------

### Test All Packages with Pixi

Source: https://roboplan.readthedocs.io/en/latest/_sources/getting_started/installation.rst.txt

Run all unit tests for all packages in the RoboPlan repository using Pixi. This is a comprehensive check of the codebase's integrity.

```bash
pixi run test_all
```

--------------------------------

### getPathLengths

Source: https://roboplan.readthedocs.io/en/latest/autoapi/core/_core_ext/index.html

Computes the cumulative path lengths from the start to each pose in a given joint path.

```APIDOC
## getPathLengths

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

### Parameters
* **path_** (JointPath_) - The joint path.

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

--------------------------------

### PathShortcutter.getConfigurationfromNormalizedPathScaling

Source: https://roboplan.readthedocs.io/en/latest/_sources/autoapi/core/index.rst.txt

Gets joint configurations from a path based on normalized joint scalings and a target value.

```APIDOC
## getConfigurationfromNormalizedPathScaling

### Description
Gets joint configurations from a path with normalized joint scalings.

### Parameters
- **path**: The joint path.
- **path_scalings**: The normalized path scaling values.
- **value**: The target scaling value.
```

--------------------------------

### Build All Packages with Pixi

Source: https://roboplan.readthedocs.io/en/latest/_sources/getting_started/installation.rst.txt

Use Pixi to build all packages within the RoboPlan repository, including Python bindings. This command ensures all components are compiled.

```bash
pixi run build_all
```

--------------------------------

### visualizeTree Function

Source: https://roboplan.readthedocs.io/en/latest/_sources/autoapi/rrt/index.rst.txt

A helper function to visualize the RRT planner's start and goal trees.

```APIDOC
## Function visualizeTree

### Description
Helper function to visualize the start and goal trees from an RRT planner.

### Parameters
#### `viz`
- **Type**: Any
- **Description**: The Viser visualizer instance.

#### `scene`
- **Type**: Any
- **Description**: The scene instance.

#### `rrt`
- **Type**: RRT
- **Description**: The RRT planner instance.

#### `frame_names`
- **Type**: list[str]
- **Description**: List of frame names to use for forward kinematics.

#### `max_step_size`
- **Type**: float
- **Description**: The maximum step size between joint configurations when interpolating paths.

#### `start_tree_color`
- **Type**: tuple[int, int, int]
- **Description**: The color of the rendered start tree. Defaults to (0, 100, 100).

#### `start_tree_name`
- **Type**: str
- **Description**: The name of the start tree in Viser. Defaults to '/rrt/start_tree'.

#### `goal_tree_color`
- **Type**: tuple[int, int, int]
- **Description**: The color of the rendered goal tree. Defaults to (100, 0, 100).

#### `goal_tree_name`
- **Type**: str
- **Description**: The name of the goal tree in Viser. Defaults to '/rrt/goal_tree'.
```

--------------------------------

### Build Package with AddressSanitizer (ASan) using Pixi

Source: https://roboplan.readthedocs.io/en/latest/_sources/getting_started/installation.rst.txt

Build a specific package with AddressSanitizer enabled using Pixi. This is useful for detecting memory errors during development.

```bash
pixi run build_asan PACKAGE_NAME
```

--------------------------------

### Oink Constructor (Scene)

Source: https://roboplan.readthedocs.io/en/latest/api_cpp.html

Constructs an Oink solver for the full robot, utilizing all joints. This is a convenient overload for when no specific joint group is targeted.

```APIDOC
## Oink(const Scene &scene)

### Description
Constructs an Oink solver for the full robot (all joints). Equivalent to Oink(scene, "").
```

--------------------------------

### Joint Position Management

Source: https://roboplan.readthedocs.io/en/latest/_sources/autoapi/core/_core_ext/index.rst.txt

Functions for getting and setting joint positions, including handling mimic joints.

```APIDOC
## Joint Position Management

### getCurrentJointPositions

Get the current Pinocchio configuration vector (model.nq).

### getCurrentJointPositionsWithMimics

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

### setJointPositions

Set the joint positions for the full robot state.

### getJointPositionIndices

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

--------------------------------

### Build Ubuntu Docker Image for RoboPlan

Source: https://roboplan.readthedocs.io/en/latest/_sources/getting_started/installation.rst.txt

Build a Docker image for Ubuntu that can be used to compile RoboPlan with vanilla CMake. This is useful for a portable build environment.

```bash
export UBUNTU_VERSION=24.04
docker compose build ubuntu
```
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