systems

Submodules

• open_loop_dispensers
• proximity_pose_plan_dispenser

Classes

class brom_drake.motion_planning.systems.prototypical_planner.PrototypicalPlannerSystem(plant: MultibodyPlant, scene_graph: SceneGraph, planning_algorithm: Callable[[ndarray, ndarray, Callable[[ndarray], bool]], Tuple[DiGraph | ndarray, int]], robot_model_idx: ModelInstanceIndex = None, **kwargs)

Description

This function is meant to be a prototypical planner system. It will receive a planning algorithm and wrap that algorithm in a LeafSystem that works in Brom.

GetPlanIsReady(context, output: AbstractValue)

Description:

This function checks if the plan is ready.

check_collision_in_config(q_model: ndarray) → bool

Description

This function checks for collisions in the robot’s environment.

Arguments

q_modelnp.ndarray

The model configuration that we are checking for collisions.

compute_plan_if_not_available(context: Context, output: AbstractValue)

Description

This function computes the plan if it is not available.

Arguments

contextContext

The context that we are working with.

outputAbstractValue

The output that will be produced by the output port

create_input_ports()

Description:

This function creates the input ports for the RRT planner.

create_output_ports()

Description:

This function creates the output ports for the RRT planner.

define_pose_ik_problem(input_pose_vec: ndarray, eps0: float = 0.025) → InverseKinematics

Description

Sets up the inverse kinematics problem for the start pose input to theis function. :return:

property n_actuated_dof: int

Description

This method uses the plant and the robot model idx to identify the numer of degrees of freedom we have for control. :return:

planning_result_to_array(planning_result: Tuple[DiGraph | ndarray, int] | DiGraph | ndarray) → ndarray

Description

This function converts the planning result to an array.

Arguments

planning_resultMotionPlanningResult

The plan that we are converting to an array.

class brom_drake.motion_planning.systems.rrt_plan_generator.RRTPlanGenerator(plant: MultibodyPlant, scene_graph: SceneGraph, robot_model_idx: ModelInstanceIndex = None, rrt_config: BaseRRTPlannerConfig = None, dim_config: int = None)

Description

This class will call the RRT planning algorithm for and then share it in an output port.

Parameters

plant: MultibodyPlant

The multibody plant containing the robot and environment.

scene_graph: SceneGraph

The scene graph associated with the multibody plant.

robot_model_idx: ModelInstanceIndex

The model instance index of the robot to be planned for.

rrt_config: BaseRRTPlannerConfig

The configuration for the RRT planner.

dim_config: int

The dimension of the configuration space.

GetPlanIsReady(context, output: AbstractValue)

Description

This function checks if the plan is ready.

compute_plan_if_not_available(context, output: AbstractValue)

Description

This function computes the plan if it is not available.

create_input_ports()

Description

This function creates the input ports for the RRT planner.

create_output_ports()

Description

This function creates the output ports for the RRT planner.

define_pose_ik_problem(input_pose_vec: ndarray, eps0: float = 0.025) → InverseKinematics

Description

Sets up the inverse kinematics problem for the start pose input to this function.

Parameters

input_pose_vec: np.ndarray

The desired end-effector pose as a 7D vector (x, y, z, qx, qy, qz, qw).

eps0: float, optional

The position tolerance for the IK problem. By default, this is set to 2.5 cm.

Returns

ik_problem: InverseKinematics

The defined inverse kinematics problem.

property n_actuated_dof: int

Description

This method uses the plant and the robot model idx to identify the number of degrees of freedom we have for control. :return:

set_dimension(dim_q: int)

Description

This function sets the dimension of the configuration space.

solve_pose_ik_problem(input_pose_vec: ndarray) → ndarray

Description

This function solves the inverse kinematics problem for the given pose.

Parameters

input_pose_vec: np.ndarray

The desired end-effector pose as a 7D vector (x, y, z, qx, qy, qz, qw).

class brom_drake.motion_planning.systems.state_of_plan_in_memory.StateOfPlanInMemory(*values)

Functions

(None found)

Variables

(None found)