Python SDK /fastsim.planner

fastsim.planner

8 classes

Abstract planner interface for motion planning backends. Implement Planner to integrate a custom IK/FK/motion-plan solver. CuroboPlanner provides a ready-to-use GPU-accelerated implementation.

Planner CuroboPlanner OmplPlanner ArmPlanner NavigationPlanner AStarDWAPlanner CuroboMpcNavigationPlanner PlannerFactory
class

Planner

abstract7 methods
fastsim.planner.planner.PlannerextendsABC

Abstract base class for all planners (arm and navigation). Provides minimal shared interface.

Planner defines the shared interface for both ArmPlanner (manipulator planning) and NavigationPlanner (mobile base planning). Subclasses implement update_world() and get_world_representation(). For arm-specific methods (solve_ik, gen_motion_plan, etc.), see ArmPlanner. For navigation methods (plan_path, compute_velocity, etc.), see NavigationPlanner.

solve_ikmethod
def solve_ik(self, base_frame_ee_pose: list, is_goal_set: bool = False, retract_joint_position: list | None = None) → dict

Solve inverse kinematics for a target EE pose.

Parameters
NameTypeDefaultDescription
base_frame_ee_poselist—Target EE pose [x, y, z, qw, qx, qy, qz].
is_goal_setoptboolFalseWhether a motion goal has already been set in the planner state.
retract_joint_positionoptlist|NoneNoneOptional retract seed for singularity avoidance.
Returns
dict — Joint position solution dict.
solve_fkmethod
def solve_fk(self, joint_positions: list, joint_names: list) → dict

Compute forward kinematics for a joint configuration.

Parameters
NameTypeDefaultDescription
joint_positionslist—Joint position values.
joint_nameslist—Corresponding joint names.
Returns
dict — End-effector pose dict.
gen_motion_planmethod
def gen_motion_plan(self, start_state: dict, base_frame_ee_pose: list, is_goal_set: bool = False) → dict

Generate a collision-free joint trajectory.

Parameters
NameTypeDefaultDescription
start_statedict—Starting joint state dict.
base_frame_ee_poselist—Goal EE pose.
is_goal_setoptboolFalseWhether the planner goal is pre-set.
Returns
dict — Planned trajectory dict.
attach_objectsmethod
def attach_objects(self, joint_state: dict, object_prim_paths: list, link_name: str, attach_offset: list) → None

Register attached objects in the planner collision model.

Parameters
NameTypeDefaultDescription
joint_statedict—Current joint state at time of attachment.
object_prim_pathslist—USD prim paths of objects to attach.
link_namestr—Robot link name for the attachment.
attach_offsetlist—Pose offset [x, y, z, qw, qx, qy, qz] from the link.
Returns
None
detach_objectsmethod
def detach_objects(self, link_name: str) → None

Remove attached objects from the planner collision model.

Parameters
NameTypeDefaultDescription
link_namestr—The link name from which to detach.
Returns
None
get_plannable_joint_namesmethod
def get_plannable_joint_names(self) → list

Return the list of joints this planner controls.

Returns
list — List of plannable joint name strings.
get_locked_jointmethod
def get_locked_joint(self) → list

Return joints excluded from planning (locked).

Returns
list — List of locked joint name strings.
class

CuroboPlanner

2 methods
fastsim.planner.curobo_planner.CuroboPlannerextendsArmPlanner

GPU-accelerated arm motion planner backed by the cuRobo library.

CuroboPlanner implements all Planner abstract methods using cuRobo's batched IK, FK, and motion-generation solvers. Requires a CUDA-capable GPU.

get_world_representationmethod
def get_world_representation(self) → Any

Return the cuRobo world collision model (voxel or mesh).

Returns
Any — cuRobo world representation object.
get_robot_representationmethod
def get_robot_representation(self) → Any

Return the cuRobo robot self-collision model.

Returns
Any — cuRobo robot representation object.
Inherited fromArmPlanner4
solve_ikmethod
def solve_ik(self, base_frame_ee_pose: Any) → dict

Solve inverse kinematics for one or more target EE poses.

gen_motion_planmethod
def gen_motion_plan(self, start_state: dict, base_frame_ee_pose: Any) → dict

Generate a collision-free trajectory to the target EE pose.

attach_objectsmethod
def attach_objects(self, joint_state: dict, object_prim_paths: list) → bool

Attach objects to the robot model in the planner world.

detach_objectsmethod
def detach_objects(self)

Detach previously attached objects from the planner world.

class

OmplPlanner

0 methods
fastsim.planner.ompl_planner.OmplPlannerextendsArmPlanner

CPU-based arm motion planner using the Open Motion Planning Library (OMPL) with PyBullet collision checking.

OmplPlanner reads collision geometry from SceneManager and uses PyBullet for collision detection. Does not require a GPU. Works with all simulator backends.

Inherited fromArmPlanner4
solve_ikmethod
def solve_ik(self, base_frame_ee_pose: Any) → dict

Solve inverse kinematics for one or more target EE poses.

gen_motion_planmethod
def gen_motion_plan(self, start_state: dict, base_frame_ee_pose: Any) → dict

Generate a collision-free trajectory to the target EE pose.

attach_objectsmethod
def attach_objects(self, joint_state: dict, object_prim_paths: list) → bool

Attach objects to the robot model in the planner world.

detach_objectsmethod
def detach_objects(self)

Detach previously attached objects from the planner world.

class

ArmPlanner

abstract4 methods
fastsim.planner.arm_planner.ArmPlannerextendsPlanner

Abstract base for manipulator arm planners (IK, FK, motion planning, attach/detach).

ArmPlanner extends Planner with arm-specific abstract methods. CuroboPlanner and OmplPlanner both inherit from this class.

solve_ikmethod
def solve_ik(self, base_frame_ee_pose: Any) → dict

Solve inverse kinematics for one or more target EE poses.

Parameters
NameTypeDefaultDescription
base_frame_ee_poseAny—Target EE pose(s) in base frame.
Returns
dict — IK solution dict with joint positions.
gen_motion_planmethod
def gen_motion_plan(self, start_state: dict, base_frame_ee_pose: Any) → dict

Generate a collision-free trajectory to the target EE pose.

Parameters
NameTypeDefaultDescription
start_statedict—Current joint state.
base_frame_ee_poseAny—Target EE pose(s).
Returns
dict — Motion plan with joint trajectory.
attach_objectsmethod
def attach_objects(self, joint_state: dict, object_prim_paths: list) → bool

Attach objects to the robot model in the planner world.

Parameters
NameTypeDefaultDescription
joint_statedict—Current joint state.
object_prim_pathslist—Prim paths of objects to attach.
Returns
bool — True if attachment succeeded.
detach_objectsmethod
def detach_objects(self)

Detach previously attached objects from the planner world.

Inherited fromPlanner7
solve_ikmethod
def solve_ik(self, base_frame_ee_pose: list, is_goal_set: bool = False, retract_joint_position: list | None = None) → dict

Solve inverse kinematics for a target EE pose.

solve_fkmethod
def solve_fk(self, joint_positions: list, joint_names: list) → dict

Compute forward kinematics for a joint configuration.

gen_motion_planmethod
def gen_motion_plan(self, start_state: dict, base_frame_ee_pose: list, is_goal_set: bool = False) → dict

Generate a collision-free joint trajectory.

attach_objectsmethod
def attach_objects(self, joint_state: dict, object_prim_paths: list, link_name: str, attach_offset: list) → None

Register attached objects in the planner collision model.

detach_objectsmethod
def detach_objects(self, link_name: str) → None

Remove attached objects from the planner collision model.

get_plannable_joint_namesmethod
def get_plannable_joint_names(self) → list

Return the list of joints this planner controls.

get_locked_jointmethod
def get_locked_joint(self) → list

Return joints excluded from planning (locked).

class

NavigationPlanner

abstract5 methods
fastsim.planner.navigation_planner.NavigationPlannerextendsPlanner

Abstract base for mobile base navigation planners (path planning, velocity control).

NavigationPlanner extends Planner with navigation-specific methods: plan_path, compute_velocity, set_goal, cancel, is_goal_reached. The A*+DWA planner is the built-in implementation.

plan_pathmethod
def plan_path(self, start: Any, goal: Any) → Any

Plan a path from start to goal on the 2D ground plane.

Parameters
NameTypeDefaultDescription
startAny—Start pose (Pose2D: x, y, theta).
goalAny—Goal pose (Pose2D: x, y, theta).
Returns
Any — NavigationResult with success flag and path.
compute_velocitymethod
def compute_velocity(self, current_pose: Any, current_velocity: Any) → Any

Compute the next velocity command (DWA local planning).

Parameters
NameTypeDefaultDescription
current_poseAny—Current Pose2D.
current_velocityAny—Current Twist2D.
Returns
Any — Twist2D velocity command.
set_goalmethod
def set_goal(self, goal: Any) → bool

Set the navigation goal and plan a path.

Parameters
NameTypeDefaultDescription
goalAny—Goal Pose2D.
Returns
bool — True if path was found.
is_goal_reachedmethod
def is_goal_reached(self, pos_tolerance: float = 0.05, angle_tolerance: float = 0.1) → bool

Check if the robot has reached the goal within tolerance.

Parameters
NameTypeDefaultDescription
pos_toleranceoptfloat0.05
angle_toleranceoptfloat0.1
Returns
bool — True if goal reached.
cancelmethod
def cancel(self)

Cancel the current navigation goal.

Inherited fromPlanner7
solve_ikmethod
def solve_ik(self, base_frame_ee_pose: list, is_goal_set: bool = False, retract_joint_position: list | None = None) → dict

Solve inverse kinematics for a target EE pose.

solve_fkmethod
def solve_fk(self, joint_positions: list, joint_names: list) → dict

Compute forward kinematics for a joint configuration.

gen_motion_planmethod
def gen_motion_plan(self, start_state: dict, base_frame_ee_pose: list, is_goal_set: bool = False) → dict

Generate a collision-free joint trajectory.

attach_objectsmethod
def attach_objects(self, joint_state: dict, object_prim_paths: list, link_name: str, attach_offset: list) → None

Register attached objects in the planner collision model.

detach_objectsmethod
def detach_objects(self, link_name: str) → None

Remove attached objects from the planner collision model.

get_plannable_joint_namesmethod
def get_plannable_joint_names(self) → list

Return the list of joints this planner controls.

get_locked_jointmethod
def get_locked_joint(self) → list

Return joints excluded from planning (locked).

class

AStarDWAPlanner

0 methods
fastsim.planner.planners.astar_dwa.astar_dwa_planner.AStarDWAPlannerextendsNavigationPlanner

A*+DWA hybrid navigation planner for mobile bases.

Combines A* global path planning on an occupancy grid with Dynamic Window Approach (DWA) local velocity optimization. Builds occupancy grid from scene objects or sensor data. Config: AStarDWAPlannerConfig now extends NavigationPlannerConfig.

Inherited fromNavigationPlanner5
plan_pathmethod
def plan_path(self, start: Any, goal: Any) → Any

Plan a path from start to goal on the 2D ground plane.

compute_velocitymethod
def compute_velocity(self, current_pose: Any, current_velocity: Any) → Any

Compute the next velocity command (DWA local planning).

set_goalmethod
def set_goal(self, goal: Any) → bool

Set the navigation goal and plan a path.

is_goal_reachedmethod
def is_goal_reached(self, pos_tolerance: float = 0.05, angle_tolerance: float = 0.1) → bool

Check if the robot has reached the goal within tolerance.

cancelmethod
def cancel(self)

Cancel the current navigation goal.

class

CuroboMpcNavigationPlanner

0 methods
fastsim.planner.planners.curobo_mpc_nav.curobo_mpc_nav_planner.CuroboMpcNavigationPlannerextendsNavigationPlanner

GPU MPC navigation planner. Walks an executable_path of rotate / translate sub-poses; uses curobo MpcSolver per tick.

Refreshes both A*-based occupancy grid and curobo world on update_world. Lazy-initializes MpcSolver / WorldConfig / robot handle on first use. Writes joint position targets (3 base joints) directly via compute_velocity instead of returning a Twist2D. Stereotype: curobo_mpc_nav.

Inherited fromNavigationPlanner5
plan_pathmethod
def plan_path(self, start: Any, goal: Any) → Any

Plan a path from start to goal on the 2D ground plane.

compute_velocitymethod
def compute_velocity(self, current_pose: Any, current_velocity: Any) → Any

Compute the next velocity command (DWA local planning).

set_goalmethod
def set_goal(self, goal: Any) → bool

Set the navigation goal and plan a path.

is_goal_reachedmethod
def is_goal_reached(self, pos_tolerance: float = 0.05, angle_tolerance: float = 0.1) → bool

Check if the robot has reached the goal within tolerance.

cancelmethod
def cancel(self)

Cancel the current navigation goal.

class

PlannerFactory

static-only1 method
fastsim.planner.planner_factory.PlannerFactory

Static factory for creating Planner instances from a config dict.

createstaticmethod
@staticmethod def create(robot_name: str, config: dict) → Planner

Instantiate a Planner for a given robot name and config.

Parameters
NameTypeDefaultDescription
robot_namestr—Name of the robot this planner will control.
configdict—Planner configuration dict specifying type and parameters.
Returns
Planner — Constructed Planner instance.