pyroboplan 1.1.0__tar.gz

pyroboplan-1.1.0/.github/workflows/format.yml

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+name: format
+
+on:
+  # Run action on certain pull request events
+  pull_request:
+    types: [opened, synchronize, reopened, ready_for_review]
+
+jobs:
+  pre-commit:
+    name: pre-commit
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+      - uses: pre-commit/action@v3.0.1

pyroboplan-1.1.0/.github/workflows/tests.yml

@@ -0,0 +1,68 @@
+name: tests
+
+on:
+  # Run action on certain pull request events
+  pull_request:
+    types: [opened, synchronize, reopened, ready_for_review]
+
+  # Nightly job on default (main) branch
+  schedule:
+    - cron: '0 0 * * *'
+
+  # Allow tests to be run manually
+  workflow_dispatch:
+
+# Ensures that only one workflow runs at a time for this branch
+concurrency:
+  group: ${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  test:
+    runs-on: ubuntu-latest
+    permissions:
+      pull-requests: write
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.10'
+      - name: Install dependencies
+        run: |
+          python3 -m pip install --upgrade pip
+          pip3 install -e .
+          pip3 install -r test/test_requirements.txt
+      - name: Run unit tests
+        run: test/run_tests.bash
+      - name: Pytest coverage comment
+        id: coverageComment
+        uses: MishaKav/pytest-coverage-comment@main
+        with:
+          pytest-coverage-path: ./test/results/pytest-coverage.txt
+          junitxml-path: ./test/results/test_results.xml
+          pytest-xml-coverage-path: ./test/results/test_results_coverage.xml
+          coverage-path-prefix: src/
+        # This will break on PRs from forks
+        if: ${{ !github.event.pull_request.head.repo.fork }}
+      - name: Create coverage badge
+        uses: schneegans/dynamic-badges-action@v1.7.0
+        with:
+          auth: ${{ secrets.COVERAGE_GIST_SECRET }}
+          # This comes from https://gist.github.com/sea-bass/e5e091166a18c68b26338793917d3bab#file-pyroboplan-test-coverage-json
+          gistID: e5e091166a18c68b26338793917d3bab
+          filename: pyroboplan-test-coverage.json
+          label: coverage
+          message: ${{ steps.coverageComment.outputs.coverage }}
+          color: ${{ steps.coverageComment.outputs.color }}
+          namedLogo: python
+        # Only update this badge on main
+        if: github.ref == 'refs/heads/main'
+      - name: Upload test results
+        uses: actions/upload-artifact@v4
+        with:
+          name: test-results
+          path: test/results/
+        # Always publish test results even when there are failures.
+        if: ${{ always() }}

pyroboplan-1.1.0/.gitignore

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+.coverage
+
+.virtualenvs/
+
+dist/
+**__pycache__/
+**.egg-info/

pyroboplan-1.1.0/.pre-commit-config.yaml

@@ -0,0 +1,68 @@
+repos:
+  # Runs pre-commit hooks and other file format checks.
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.6.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-ast
+      - id: check-builtin-literals
+      - id: check-case-conflict
+      - id: check-docstring-first
+      - id: check-executables-have-shebangs
+      - id: check-json
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-toml
+      - id: check-vcs-permalinks
+      - id: check-yaml
+      - id: debug-statements
+      - id: destroyed-symlinks
+      - id: detect-private-key
+      - id: end-of-file-fixer
+      - id: fix-byte-order-marker
+      - id: forbid-new-submodules
+      - id: mixed-line-ending
+      - id: name-tests-test
+      - id: requirements-txt-fixer
+      - id: sort-simple-yaml
+      - id: trailing-whitespace
+
+  # Autoformats Python code.
+  - repo: https://github.com/psf/black
+    rev: 24.4.2
+    hooks:
+      - id: black
+
+  # Finds spelling issues in code.
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.3.0
+    hooks:
+      - id: codespell
+
+  # Finds issues in YAML files.
+  - repo: https://github.com/adrienverge/yamllint
+    rev: v1.35.1
+    hooks:
+      - id: yamllint
+        args:
+          [
+            "--no-warnings",
+            "--config-data",
+            "{extends: default, rules: {line-length: disable, braces: {max-spaces-inside: 1}}}",
+          ]
+        types: [text]
+        files: \.(yml|yaml)$
+
+  # Regenerates the docs.
+  - repo: local
+    hooks:
+      - name: generate-docs
+        id: generate-docs
+        entry: bash -c 'docs/generate_docs.bash'
+        language: system
+
+  # Checks links in markdown files.
+  - repo: https://github.com/tcort/markdown-link-check
+    rev: v3.12.2
+    hooks:
+      - id: markdown-link-check

pyroboplan-1.1.0/.readthedocs.yaml

@@ -0,0 +1,36 @@
+# .readthedocs.yaml
+version: 2
+
+# Set the version of Python and other tools
+build:
+  os: ubuntu-22.04
+  tools:
+    python: "3.10"
+  jobs:
+    # Sets up Git LFS for large files, as shown in:
+    # https://docs.readthedocs.io/en/stable/build-customization.html#support-git-lfs-large-file-storage
+    post_checkout:
+      # Download Git LFS
+      - wget https://github.com/git-lfs/git-lfs/releases/download/v3.1.4/git-lfs-linux-amd64-v3.1.4.tar.gz
+      - tar xvfz git-lfs-linux-amd64-v3.1.4.tar.gz
+      # Modify LFS config paths to point where git-lfs binary was downloaded
+      - git config filter.lfs.process "`pwd`/git-lfs filter-process"
+      - git config filter.lfs.smudge  "`pwd`/git-lfs smudge -- %f"
+      - git config filter.lfs.clean "`pwd`/git-lfs clean -- %f"
+      # Make LFS available in current repository
+      - ./git-lfs install
+      # Download content from remote
+      - ./git-lfs fetch
+      # Make local files to have the real content on them
+      - ./git-lfs checkout
+
+python:
+  install:
+    - requirements: docs/requirements.txt
+    - method: pip
+      path: .
+
+
+# Build documentation in the Sphinx source directory
+sphinx:
+  configuration: docs/source/conf.py

pyroboplan-1.1.0/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2024 Sebastian Castro
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

pyroboplan-1.1.0/PKG-INFO

@@ -0,0 +1,84 @@
+Metadata-Version: 2.3
+Name: pyroboplan
+Version: 1.1.0
+Summary: Educational Python library for manipulator motion planning.
+Author-email: Sebastian Castro <sebas.a.castro@gmail.com>
+Maintainer-email: Sebastian Castro <sebas.a.castro@gmail.com>
+License: MIT License
+        
+        Copyright (c) 2024 Sebastian Castro
+        
+        Permission is hereby granted, free of charge, to any person obtaining a copy
+        of this software and associated documentation files (the "Software"), to deal
+        in the Software without restriction, including without limitation the rights
+        to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+        copies of the Software, and to permit persons to whom the Software is
+        furnished to do so, subject to the following conditions:
+        
+        The above copyright notice and this permission notice shall be included in all
+        copies or substantial portions of the Software.
+        
+        THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+        IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+        FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+        AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+        LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+        OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+        SOFTWARE.
+License-File: LICENSE
+Keywords: education,manipulators,motion planning
+Requires-Python: >=3.10
+Requires-Dist: drake==1.30.0
+Requires-Dist: matplotlib==3.9.0
+Requires-Dist: meshcat==0.3.2
+Requires-Dist: pin==2.7.0
+Requires-Dist: scipy==1.13.1
+Description-Content-Type: text/markdown
+
+# PyRoboPlan
+
+[![PyRoboPlan Tests](https://github.com/sea-bass/pyroboplan/actions/workflows/tests.yml/badge.svg?branch=main)](https://github.com/sea-bass/pyroboplan/actions/workflows/tests.yml)
+[![Documentation Status](https://readthedocs.org/projects/pyroboplan/badge/?version=latest)](https://pyroboplan.readthedocs.io/en/latest/?badge=latest)
+![Coverage Status](https://img.shields.io/endpoint?url=https://gist.githubusercontent.com/sea-bass/e5e091166a18c68b26338793917d3bab/raw/pyroboplan-test-coverage.json)
+
+Educational Python library for manipulator motion planning.
+
+This library extensively uses the [Pinocchio](https://github.com/stack-of-tasks/pinocchio) Python bindings for modeling robot kinematics and dynamics.
+
+For more information, refer to the [full documentation](https://pyroboplan.readthedocs.io/en/latest/).
+
+By Sebastian Castro, 2024
+
+![RRT based motion planning and trajectory execution](https://raw.githubusercontent.com/sea-bass/pyroboplan/main/docs/source/_static/gifs/pyroboplan_rrt_traj.gif)
+
+![Cartesian motion planning](https://raw.githubusercontent.com/sea-bass/pyroboplan/main/docs/source/_static/gifs/pyroboplan_cartesian_path.gif)
+
+---
+
+## Setup
+
+### From PyPi
+
+```bash
+pip3 install pyroboplan
+```
+
+### From Source
+
+Clone this repository.
+
+```bash
+git clone https://github.com/sea-bass/pyroboplan.git
+```
+
+(Optional) Set up a virtual environment and install dependencies.
+
+```bash
+source scripts/setup_virtual_env.bash
+```
+
+Install this package and its dependencies.
+
+```bash
+pip3 install -e .
+```

pyroboplan-1.1.0/README.md

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+# PyRoboPlan
+
+[![PyRoboPlan Tests](https://github.com/sea-bass/pyroboplan/actions/workflows/tests.yml/badge.svg?branch=main)](https://github.com/sea-bass/pyroboplan/actions/workflows/tests.yml)
+[![Documentation Status](https://readthedocs.org/projects/pyroboplan/badge/?version=latest)](https://pyroboplan.readthedocs.io/en/latest/?badge=latest)
+![Coverage Status](https://img.shields.io/endpoint?url=https://gist.githubusercontent.com/sea-bass/e5e091166a18c68b26338793917d3bab/raw/pyroboplan-test-coverage.json)
+
+Educational Python library for manipulator motion planning.
+
+This library extensively uses the [Pinocchio](https://github.com/stack-of-tasks/pinocchio) Python bindings for modeling robot kinematics and dynamics.
+
+For more information, refer to the [full documentation](https://pyroboplan.readthedocs.io/en/latest/).
+
+By Sebastian Castro, 2024
+
+![RRT based motion planning and trajectory execution](https://raw.githubusercontent.com/sea-bass/pyroboplan/main/docs/source/_static/gifs/pyroboplan_rrt_traj.gif)
+
+![Cartesian motion planning](https://raw.githubusercontent.com/sea-bass/pyroboplan/main/docs/source/_static/gifs/pyroboplan_cartesian_path.gif)
+
+---
+
+## Setup
+
+### From PyPi
+
+```bash
+pip3 install pyroboplan
+```
+
+### From Source
+
+Clone this repository.
+
+```bash
+git clone https://github.com/sea-bass/pyroboplan.git
+```
+
+(Optional) Set up a virtual environment and install dependencies.
+
+```bash
+source scripts/setup_virtual_env.bash
+```
+
+Install this package and its dependencies.
+
+```bash
+pip3 install -e .
+```

pyroboplan-1.1.0/docs/.gitignore

@@ -0,0 +1 @@
+build/

pyroboplan-1.1.0/docs/Makefile

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+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line, and also
+# from the environment for the first two.
+SPHINXOPTS    ?=
+SPHINXBUILD   ?= sphinx-build
+SOURCEDIR     = source
+BUILDDIR      = build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+.PHONY: help Makefile
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

pyroboplan-1.1.0/docs/generate_docs.bash

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+#!/bin/bash
+
+# Generates Sphinx documentation.
+#
+# Note that you may need some additional Python packages:
+# pip3 install sphinx sphinx-rtd-theme
+
+SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
+pushd "${SCRIPT_DIR}" || exit
+
+# Clean up
+rm -rf build/
+rm -rf source/modules.rst
+rm -rf source/pyroboplan*
+
+# Regenerate the API docs
+sphinx-apidoc -f --module-first -H "API Documentation" -o source/api/ ../src/pyroboplan/
+
+# Build the docs
+make html
+
+popd || exit

pyroboplan-1.1.0/docs/requirements.txt

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+sphinx
+sphinx-rtd-theme

pyroboplan-1.1.0/docs/source/api/modules.rst

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+API Documentation
+=================
+
+.. toctree::
+   :maxdepth: 4
+
+   pyroboplan

pyroboplan-1.1.0/docs/source/api/pyroboplan.core.rst

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+pyroboplan.core package
+=======================
+
+.. automodule:: pyroboplan.core
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Submodules
+----------
+
+pyroboplan.core.planning\_context module
+----------------------------------------
+
+.. automodule:: pyroboplan.core.planning_context
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+pyroboplan.core.utils module
+----------------------------
+
+.. automodule:: pyroboplan.core.utils
+   :members:
+   :undoc-members:
+   :show-inheritance:

pyroboplan-1.1.0/docs/source/api/pyroboplan.ik.rst

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+pyroboplan.ik package
+=====================
+
+.. automodule:: pyroboplan.ik
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Submodules
+----------
+
+pyroboplan.ik.differential\_ik module
+-------------------------------------
+
+.. automodule:: pyroboplan.ik.differential_ik
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+pyroboplan.ik.nullspace\_components module
+------------------------------------------
+
+.. automodule:: pyroboplan.ik.nullspace_components
+   :members:
+   :undoc-members:
+   :show-inheritance:

pyroboplan-1.1.0/docs/source/api/pyroboplan.models.rst

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+pyroboplan.models package
+=========================
+
+.. automodule:: pyroboplan.models
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Submodules
+----------
+
+pyroboplan.models.panda module
+------------------------------
+
+.. automodule:: pyroboplan.models.panda
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+pyroboplan.models.two\_dof module
+---------------------------------
+
+.. automodule:: pyroboplan.models.two_dof
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+pyroboplan.models.utils module
+------------------------------
+
+.. automodule:: pyroboplan.models.utils
+   :members:
+   :undoc-members:
+   :show-inheritance:

pyroboplan-1.1.0/docs/source/api/pyroboplan.planning.rst

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+pyroboplan.planning package
+===========================
+
+.. automodule:: pyroboplan.planning
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Submodules
+----------
+
+pyroboplan.planning.cartesian\_planner module
+---------------------------------------------
+
+.. automodule:: pyroboplan.planning.cartesian_planner
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+pyroboplan.planning.graph module
+--------------------------------
+
+.. automodule:: pyroboplan.planning.graph
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+pyroboplan.planning.graph\_search module
+----------------------------------------
+
+.. automodule:: pyroboplan.planning.graph_search
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+pyroboplan.planning.prm module
+------------------------------
+
+.. automodule:: pyroboplan.planning.prm
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+pyroboplan.planning.rrt module
+------------------------------
+
+.. automodule:: pyroboplan.planning.rrt
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+pyroboplan.planning.utils module
+--------------------------------
+
+.. automodule:: pyroboplan.planning.utils
+   :members:
+   :undoc-members:
+   :show-inheritance:

pyroboplan-1.1.0/docs/source/api/pyroboplan.rst

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+pyroboplan package
+==================
+
+.. automodule:: pyroboplan
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Subpackages
+-----------
+
+.. toctree::
+   :maxdepth: 4
+
+   pyroboplan.core
+   pyroboplan.ik
+   pyroboplan.models
+   pyroboplan.planning
+   pyroboplan.trajectory
+   pyroboplan.visualization

pyroboplan-1.1.0/docs/source/api/pyroboplan.trajectory.rst

@@ -0,0 +1,26 @@
+pyroboplan.trajectory package
+=============================
+
+.. automodule:: pyroboplan.trajectory
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Submodules
+----------
+
+pyroboplan.trajectory.polynomial module
+---------------------------------------
+
+.. automodule:: pyroboplan.trajectory.polynomial
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+pyroboplan.trajectory.trapezoidal\_velocity module
+--------------------------------------------------
+
+.. automodule:: pyroboplan.trajectory.trapezoidal_velocity
+   :members:
+   :undoc-members:
+   :show-inheritance:

pyroboplan-1.1.0/docs/source/api/pyroboplan.visualization.rst

@@ -0,0 +1,18 @@
+pyroboplan.visualization package
+================================
+
+.. automodule:: pyroboplan.visualization
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Submodules
+----------
+
+pyroboplan.visualization.meshcat\_utils module
+----------------------------------------------
+
+.. automodule:: pyroboplan.visualization.meshcat_utils
+   :members:
+   :undoc-members:
+   :show-inheritance: