`fastsim.planner`

3 个类

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 PlannerFactory

class

Planner

抽象类7 个方法

fastsim.planner.planner.Planner继承自ABC

Abstract base class defining the planning interface used by MotionPlanController.

Subclass Planner and implement all abstract methods to connect a custom motion planning library. Instances are created per-robot and managed by the framework.

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.

参数

参数名	类型	默认值	说明
`base_frame_ee_pose`	list	—	Target EE pose [x, y, z, qw, qx, qy, qz].
`is_goal_set`opt	bool	`False`	Whether a motion goal has already been set in the planner state.
`retract_joint_position`opt	list\|None	`None`	Optional retract seed for singularity avoidance.

返回值

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.

参数

参数名	类型	默认值	说明
`joint_positions`	list	—	Joint position values.
`joint_names`	list	—	Corresponding joint names.

返回值

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.

参数

参数名	类型	默认值	说明
`start_state`	dict	—	Starting joint state dict.
`base_frame_ee_pose`	list	—	Goal EE pose.
`is_goal_set`opt	bool	`False`	Whether the planner goal is pre-set.

返回值

dict — Planned trajectory dict.

attach_objectsmethod

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

参数

参数名	类型	默认值	说明
`joint_state`	dict	—	Current joint state at time of attachment.
`object_prim_paths`	list	—	USD prim paths of objects to attach.
`link_name`	str	—	Robot link name for the attachment.
`attach_offset`	list	—	Pose offset [x, y, z, qw, qx, qy, qz] from the link.

返回值

None

detach_objectsmethod

def detach_objects(self, link_name: str) → None

Remove attached objects from the planner collision model.

参数

参数名	类型	默认值	说明
`link_name`	str	—	The link name from which to detach.

返回值

None

get_plannable_joint_namesmethod

def get_plannable_joint_names(self) → list

Return the list of joints this planner controls.

返回值

list — List of plannable joint name strings.

get_locked_jointmethod

def get_locked_joint(self) → list

Return joints excluded from planning (locked).

返回值

list — List of locked joint name strings.

class

CuroboPlanner

2 个方法

fastsim.planner.curobo_planner.CuroboPlanner继承自Planner

GPU-accelerated 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).

返回值

Any — cuRobo world representation object.

get_robot_representationmethod

def get_robot_representation(self) → Any

Return the cuRobo robot self-collision model.

返回值

Any — cuRobo robot representation object.

继承自Planner7

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

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

PlannerFactory

静态类1 个方法

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.

参数

参数名	类型	默认值	说明
`robot_name`	str	—	Name of the robot this planner will control.
`config`	dict	—	Planner configuration dict specifying type and parameters.

返回值

Planner — Constructed Planner instance.