Add path shortening utils and consolidate examples by eholum · Pull Request #33 · open-planning/roboplan

eholum · 2025-07-21T15:20:23Z

Resolves #19.

Shamelessly converting https://github.com/sea-bass/pyroboplan/blob/main/src/pyroboplan/planning/path_shortcutting.py.

The quality of the example is highly dependent on the original path, but I suppose that's to be expected. Here's a good run:

sea-bass

you know me, reviewing the draft PRs like a sociopath

Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com>

eholum · 2025-07-22T12:20:08Z

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sea-bass · 2025-07-22T12:53:36Z

The job was not started because recent account payments have failed or your spending limit needs to be increased. Please check the 'Billing & plans' section in your settings

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Gahh... so I guess I either need to pay up or we make this repo public. Preferences?

eholum · 2025-07-22T12:58:21Z

Gahh... so I guess I either need to pay up or we make this repo public. Preferences?

Third option, move it to an org? Would that reset the count?

sea-bass · 2025-07-22T13:01:09Z

Third option, move it to an org? Would that reset the count?

Yeah I think that's what I meant by making it public. The org itself cannot be private, and I'm additionally not sure right now if one can have a private repo in a free tier org. I can check later.

sea-bass · 2025-07-22T13:05:19Z

eholum · 2025-07-22T14:27:33Z

4th option: Give me permissions and I'll add this to my linux runner under my desk.

sea-bass · 2025-07-22T23:05:40Z

Your CI is back, kind sir.

eholum · 2025-07-22T23:38:24Z

Your CI is back, kind sir.

Thank goodness I can see that broken rolling build, again.

eholum

checking things

eholum · 2025-07-25T14:17:44Z

Ah gonna stop playing with this since I think this is a reasonable functional baseline.

sea-bass

Cool! Just a few comments

sea-bass · 2025-07-26T19:11:27Z

+from roboplan.viser_visualizer import ViserVisualizer
+
+
+def visualizePath(


So once the Franka PR lands, I think this is what we'll need:

Factor out the existing visualizePath to two separate functions, visualizeRRT and visualizePath, which accepts the name of the thing to visualize as an input arg.

The original example will call one of each

This example will call visualizeRRT once, and visualizePath twice (for the raw and shortcutted paths)

Follow-up: Maybe we instead just want to modify the existing RRT examples and add a flag for whether we want shortcutting or not?

Done and done.

I'm assuming it's preferable just to have all of the configurable parameters directly in code rather than adding arguments or something to these example scripts to do more code consolidation?

Either/or. Viser uses this other package named tyro which makes command line args pretty nice, if you wanna check it out. The viser examples are a good reference.

Oh that is need. Do you want to tackle that here? I would probably merge the ik and rrt examples together and make everything an argument, including the robot models. Thoughts?

That sounds great -- up to you if you wanna split it off or club it all together.

eholum · 2025-07-27T15:59:03Z

We may want to land this straight to Pinocchio then...

Working on it but my little machine is on the struggle bus right now.

sea-bass · 2025-07-27T16:23:33Z

Working on it but my little machine is on the struggle bus right now.

I'll let you in on a secret. I never actually built Pinocchio for my visualizer PRs. I just added the files to my install space and copied them into the repo when they worked.

eholum · 2025-07-28T13:35:59Z

I never actually built Pinocchio for my visualizer PRs

Rule number 1: I never half-ass anything. I'm a whole-ass man.

eholum · 2025-07-28T14:09:37Z

Okay added tyro. It's very handy because now one can do things like,

python3 examples/example_rrt.py --host ubuntu-linux.shared --model ur5 --include_shortcutting --max_connection_distance 0.5 --max_planning_time 10 --max_nodes 100000 --goal_biasing_probability 0.001 --rrt_connect

And the autogenerated help is quite pretty,

$ python3 examples/example_ik.py --help
usage: example_ik.py [-h] [OPTIONS]

Run the IK example with the provided parameters.

╭─ options ──────────────────────────────────────────────────────────────────────────────╮
│ -h, --help              show this help message and exit                                │
│ --model STR             The name of the model to user (ur5 or franka). (default: ur5)  │
│ --max-iters INT         Maximum number of iterations for the IK solver. (default: 100) │
│ --step-size FLOAT       Integration step size for the IK solver. (default: 0.25)       │
│ --goal-biasing-probability FLOAT                                                       │
│                         (default: 0.15)                                                │
│ --max-nodes INT         (default: 1000)                                                │
│ --max-planning-time FLOAT                                                              │
│                         (default: 3.0)                                                 │
│ --rrt-connect, --no-rrt-connect                                                        │
│                         (default: False)                                               │
│ --include-shortcutting, --no-include-shortcutting                                      │
│                         (default: False)                                               │
│ --host STR              The host for the ViserVisualizer. (default: localhost)         │
│ --port STR              The port for the ViserVisualizer. (default: 8000)              │

sea-bass · 2025-07-28T14:13:09Z

That's a lovely ball of yarn.

eholum · 2025-07-28T14:26:18Z

Sigh. Does anyone like ros? (I do)

sea-bass · 2025-07-28T14:28:23Z

Sigh. Does anyone like ros? (I do)

I ran into this pain too. Just pin the typing_extensions version in your install command:

roboplan/.docker/ros/Dockerfile

Line 31 in 7af1866

    
           && pip3 install "numpy<2.0.0" typing_extensions==4.10.0 viser opencv-contrib-python-headless \

Or you can pin tyro itself. See brentyi/tyro#324

sea-bass

Amazing!

eholum self-assigned this Jul 21, 2025

eholum changed the title ~~Add path shortening utils~~ [WIP] Add path shortening utils Jul 21, 2025

eholum added 2 commits July 21, 2025 11:29

Add functions for path shortening

2b1a1a4

Start adding unit tests for path shortcutting

c0932ed

eholum force-pushed the path-shortening branch from 5460752 to c0932ed Compare July 21, 2025 15:29

sea-bass reviewed Jul 22, 2025

View reviewed changes

Update roboplan/src/core/path_utils.cpp

f1337ba

Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com>

Eigen, right.

2d07f7a

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eholum force-pushed the path-shortening branch from 4a586ad to 2d07f7a Compare July 22, 2025 12:35

eholum mentioned this pull request Jul 22, 2025

tl::expected : yay or nay? #9

Closed

Make path shortening actually work

3863ce7

Seed path shortcutting

546c0bb

eholum added 4 commits July 23, 2025 08:57

Never shortcut the start

c1f9410

Add python bindings

2a2a23a

Weird timeouts when connecting through ssh in the vizer viz

ac46894

Add path shortcutting example

530abc1

eholum commented Jul 25, 2025

View reviewed changes

Comment thread bindings/src/roboplan/viser_visualizer.py Outdated

Comment thread bindings/src/roboplan/viser_visualizer.py

Comment thread bindings/src/roboplan_ext.cpp

eholum and others added 2 commits July 25, 2025 09:24

Update bindings/src/roboplan/viser_visualizer.py

c6fe78d

Tweak RRT params for path shortening

e36d4e1

eholum changed the title ~~[WIP] Add path shortening utils~~ Add path shortening utils Jul 25, 2025

eholum marked this pull request as ready for review July 25, 2025 14:17

sea-bass reviewed Jul 26, 2025

View reviewed changes

eholum added 5 commits July 27, 2025 09:18

Merge branch 'main' into path-shortening

aebffd9

Separate tree and path rendering

5f7d2e5

Add path shortcutting to existing RRT demos

d9116e1

0 is a valid seed

2ecd997

Minor viz tweaks

ed53e17

eholum added 3 commits July 28, 2025 09:38

Add tyro as a dep and install in containers

562a806

Consolidate RRT examples with tyro

3a6082e

Generalize the IK example

86d29d1

eholum changed the title ~~Add path shortening utils~~ Add path shortening utils and consolidate examples Jul 28, 2025

Add comment

8bf6e97

Unused params

795f377

pin typing_extensions

0742a16

sea-bass reviewed Jul 28, 2025

View reviewed changes

Comment thread .docker/ros/Dockerfile Outdated

Install tyro with the other bindings deps

fef1552

sea-bass approved these changes Jul 28, 2025

View reviewed changes

sea-bass merged commit 87c6375 into main Jul 28, 2025
8 of 9 checks passed

sea-bass deleted the path-shortening branch July 28, 2025 23:33

		from roboplan.viser_visualizer import ViserVisualizer


		def visualizePath(

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