pyrcf.components.local_planners

Module containing interface and definitions of local planner components that can be used in the control loop.

Submodules

• pyrcf.components.local_planners.blind_forwarding_planner
• pyrcf.components.local_planners.joint_reference_interpolator
• pyrcf.components.local_planners.local_planner_base
• pyrcf.components.local_planners.pb_ik_reference_interpolator

Classes

LocalPlannerBase	Base class defining the interface for all local planners that can be used in the control
DummyLocalPlanner	Dummy local planner for testing pipeline.
BlindForwardingPlanner	Simple forwarding planner which directly forwards the global plan message as local plan.
JointReferenceInterpolator	Simply interpolates joint references given through the global plan messages using
PybulletIKReferenceInterpolator	Solves IK using PybulletIKInterface for given end-effector reference and interpolates joint references.

Package Contents

class pyrcf.components.local_planners.LocalPlannerBase

Bases: pyrcf.components.pyrcf_component.PyRCFComponent

Base class defining the interface for all local planners that can be used in the control loop.

abstract generate_local_plan(robot_state: pyrcf.core.types.RobotState, global_plan: pyrcf.core.types.GlobalMotionPlan, t: float, dt: float) → pyrcf.core.types.LocalMotionPlan

The main local plan generation method to be called in the loop.

This method will be called after the global plan is generated in the loop.

This method should be implemented by any local planner implementation.

Parameters:

• robot_state (RobotState) – The current state information from the robot.

• global_plan (GlobalMotionPlan) – the latest global plan generated by the global planner used in the loop.

• t (float) – the current time signature of the control loop. Defaults to None (controllers may or may not need this).

• dt (float, optional) – the time since the last control loop. Defaults to None (controllers may or may not need this).

Raises:

NotImplementedError – Raised if this method is not implemented by the child class.

Returns:

The output local plan to be used by the controller in this iteration.

Return type:

LocalMotionPlan

class pyrcf.components.local_planners.DummyLocalPlanner(squawk: bool = True)

Bases: LocalPlannerBase

Dummy local planner for testing pipeline.

_squawk = True

generate_local_plan(robot_state: pyrcf.core.types.RobotState, global_plan: pyrcf.core.types.GlobalMotionPlan, t: float, dt: float) → pyrcf.core.types.LocalMotionPlan

This is a dummy method for sanity checking the control loop.

class pyrcf.components.local_planners.BlindForwardingPlanner

Bases: pyrcf.components.local_planners.local_planner_base.LocalPlannerBase

Simple forwarding planner which directly forwards the global plan message as local plan.

generate_local_plan(robot_state: pyrcf.core.types.RobotState, global_plan: pyrcf.core.types.GlobalMotionPlan, t: float, dt: float) → pyrcf.core.types.LocalMotionPlan

The main local plan generation method to be called in the loop.

This method will be called after the global plan is generated in the loop.

This method should be implemented by any local planner implementation.

Parameters:

• robot_state (RobotState) – The current state information from the robot.

• global_plan (GlobalMotionPlan) – the latest global plan generated by the global planner used in the loop.

• t (float) – the current time signature of the control loop. Defaults to None (controllers may or may not need this).

• dt (float, optional) – the time since the last control loop. Defaults to None (controllers may or may not need this).

Raises:

NotImplementedError – Raised if this method is not implemented by the child class.

Returns:

The output local plan to be used by the controller in this iteration.

Return type:

LocalMotionPlan

class pyrcf.components.local_planners.JointReferenceInterpolator(filter_gain=0.05, blind_mode: bool = True, forward_other_global_plan_values: bool = True)

Bases: pyrcf.components.local_planners.blind_forwarding_planner.LocalPlannerBase

Simply interpolates joint references given through the global plan messages using a 2nd-order filter.

_alpha = 0.05

_blind_mode = True

_output_plan: pyrcf.core.types.LocalMotionPlan = None

_prev_ref: numpy.ndarray = None

_forward_gp = True

generate_local_plan(robot_state: pyrcf.core.types.RobotState, global_plan: pyrcf.core.types.GlobalMotionPlan, t: float, dt: float) → pyrcf.core.types.LocalMotionPlan

The main local plan generation method to be called in the loop.

This method will be called after the global plan is generated in the loop.

This method should be implemented by any local planner implementation.

Parameters:

• robot_state (RobotState) – The current state information from the robot.

• global_plan (GlobalMotionPlan) – the latest global plan generated by the global planner used in the loop.

• t (float) – the current time signature of the control loop. Defaults to None (controllers may or may not need this).

• dt (float, optional) – the time since the last control loop. Defaults to None (controllers may or may not need this).

Raises:

NotImplementedError – Raised if this method is not implemented by the child class.

Returns:

The output local plan to be used by the controller in this iteration.

Return type:

LocalMotionPlan

class pyrcf.components.local_planners.PybulletIKReferenceInterpolator(urdf_path: str, floating_base: bool = False, starting_base_position: pyrcf.core.types.Vector3D = np.zeros(3), starting_base_orientation: pyrcf.core.types.QuatType = np.array([0, 0, 0, 1]), starting_joint_positions: List[float] = None, joint_names_order: List[str] = None, filter_gain=0.05, blind_mode: bool = True, ee_names: List[str] = None, max_constraint_force: float = 10000, solver_erp: float = None, **pb_ik_kwargs)

Bases: pyrcf.components.local_planners.local_planner_base.LocalPlannerBase

Solves IK using PybulletIKInterface for given end-effector reference and interpolates joint references.

_pb_ik

_alpha = 0.05

_blind_mode = True

_max_force = 10000

_erp = None

_ee_names = None

_output_plan: pyrcf.core.types.LocalMotionPlan = None

_prev_ee_pose_targets: Mapping[str, Tuple[pyrcf.core.types.Vector3D, pyrcf.core.types.QuatType]]

_prev_ref: numpy.ndarray = None

generate_local_plan(robot_state: pyrcf.core.types.RobotState, global_plan: pyrcf.core.types.GlobalMotionPlan, t: float, dt: float) → pyrcf.core.types.LocalMotionPlan

The main local plan generation method to be called in the loop.

This method will be called after the global plan is generated in the loop.

This method should be implemented by any local planner implementation.

Parameters:

• robot_state (RobotState) – The current state information from the robot.

• global_plan (GlobalMotionPlan) – the latest global plan generated by the global planner used in the loop.

• t (float) – the current time signature of the control loop. Defaults to None (controllers may or may not need this).

• dt (float, optional) – the time since the last control loop. Defaults to None (controllers may or may not need this).

Raises:

NotImplementedError – Raised if this method is not implemented by the child class.

Returns:

The output local plan to be used by the controller in this iteration.

Return type:

LocalMotionPlan