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 nav-planning

Verify installation¶

from nav_planning.locobot import HOME_JOINTS
from nav_planning.planning import create_planner

planner = create_planner("locobot")
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 (project nav-planning, GitHub environment pypi):

# after bumping `version` in pyproject.toml on main
git tag v0.1.0
git push origin v0.1.0

Development Setup¶

For contributing or rebuilding the robot models, use pixi:

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

Or manually:

git clone --recursive https://github.com/H-tr/Nav-Planning.git
cd Nav-Planning
pixi install          # also builds nav_planning into the environment
pixi run test

Rebuilding the robot models¶

The collision models ship with the package. To rebuild them from the official descriptions (see Robots):

bash scripts/download_assets.sh     # official descriptions, pinned commits
pixi run cricket-build
pixi run generate-fk                # build-robot -> spherize-robot -> generate-fk
pixi run python scripts/sphere_coverage.py nav_planning/resources/robot locobot

generate-fk depends on spherize-robot, which depends on build-robot, so one call runs the whole pipeline. Rebuild the package afterwards (pixi install).