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Getting Started

Prerequisites

  • Linux (x86_64, glibc 2.28+) on a CPU with AVX2 (Intel Haswell / AMD Zen or newer)
  • Python 3.10–3.14

Installation

Pre-built wheels are available for Python 3.10–3.14 on Linux x86_64. No local compilation required:

pip install fetch-planning

The wheels ship the ikfast and pink IK backends. The trac_ik backend needs orocos-kdl and NLopt at build time, so it is only available in the development setup below.

Verify installation

from fetch_planning.fetch import HOME_JOINTS
from fetch_planning.planning import create_planner

planner = create_planner("fetch")
goal = planner.sample_valid()
result = planner.plan(HOME_JOINTS.copy(), goal)
print(f"Planning {'succeeded' if result.success else 'failed'}")

Building Wheels from Source

Wheels are built with cibuildwheel inside the manylinux Docker images (configured under [tool.cibuildwheel] in pyproject.toml). To build one locally:

pipx run cibuildwheel --platform linux --only cp312-manylinux_x86_64

The output goes to wheelhouse/. Requirements: Docker must be installed and running.

Releasing

Pushing a v* tag runs .github/workflows/release.yml, which builds manylinux_2_34 and manylinux_2_28 wheels for every supported Python and publishes them to PyPI via Trusted Publishing:

# after bumping `version` in pyproject.toml on main
git tag v0.3.2
git push origin v0.3.2

Development Setup

For contributing or rebuilding C++ dependencies from source, use pixi:

git clone --recursive https://github.com/H-tr/Fetch-Planning.git
cd Fetch-Planning
bash scripts/setup.sh

Or manually:

git clone --recursive https://github.com/H-tr/Fetch-Planning.git
cd Fetch-Planning
pixi install
pixi run cricket-build
pixi run foam-build
bash scripts/download_assets.sh