chore: import upstream snapshot with attribution

2026-07-13 13:05:14 +08:00
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+<!--[metadata]
+title = "RRT*"
+tags = ["2D"]
+thumbnail= "https://static.rerun.io/rrt-star/fbbda33bdbbfa469ec95c905178ac3653920473a/480w.png"
+thumbnail_dimensions = [480, 480]
+channel = "main"
+include_in_manifest = true
+-->
+
+This example visualizes the path finding algorithm RRT\* in a simple environment.
+
+<picture>
+  <img src="https://static.rerun.io/rrt-star/4d4684a24eab7d5def5768b7c1685d8b1cb2c010/full.png" alt="RRT* example screenshot">
+  <source media="(max-width: 480px)" srcset="https://static.rerun.io/rrt-star/4d4684a24eab7d5def5768b7c1685d8b1cb2c010/480w.png">
+  <source media="(max-width: 768px)" srcset="https://static.rerun.io/rrt-star/4d4684a24eab7d5def5768b7c1685d8b1cb2c010/768w.png">
+  <source media="(max-width: 1024px)" srcset="https://static.rerun.io/rrt-star/4d4684a24eab7d5def5768b7c1685d8b1cb2c010/1024w.png">
+  <source media="(max-width: 1200px)" srcset="https://static.rerun.io/rrt-star/4d4684a24eab7d5def5768b7c1685d8b1cb2c010/1200w.png">
+</picture>
+
+## Used Rerun types
+[`LineStrips2D`](https://www.rerun.io/docs/reference/types/archetypes/line_strips2d), [`Points2D`](https://www.rerun.io/docs/reference/types/archetypes/points2d), [`TextDocument`](https://www.rerun.io/docs/reference/types/archetypes/text_document)
+
+## Background
+The algorithm finds a path between two points by randomly expanding a tree from the start point.
+After it has added a random edge to the tree it looks at nearby nodes to check if it's faster to reach them through this new edge instead,
+and if so it changes the parent of these nodes. This ensures that the algorithm will converge to the optimal path given enough time.
+
+A detailed explanation can be found in the original paper
+Karaman, S. Frazzoli, S. 2011. "Sampling-based algorithms for optimal motion planning".
+or in [this medium article](https://theclassytim.medium.com/robotic-path-planning-rrt-and-rrt-212319121378)
+
+
+## Logging and visualizing with Rerun
+
+All points are logged using the [`Points2D`](https://www.rerun.io/docs/reference/types/archetypes/points2d) archetype, while the lines are logged using the LineStrips2D [`LineStrips2D`](https://www.rerun.io/docs/reference/types/archetypes/line_strips2d).
+
+The visualizations in this example were created with the following Rerun code:
+
+### Map
+
+#### Starting point
+```python
+rr.log("map/start", rr.Points2D([start_point], radii=0.02, colors=[[255, 255, 255, 255]]))
+```
+
+#### Destination point
+```python
+rr.log("map/destination", rr.Points2D([end_point], radii=0.02, colors=[[255, 255, 0, 255]]))
+```
+
+#### Obstacles
+```python
+rr.log("map/obstacles", rr.LineStrips2D(self.obstacles))
+```
+
+
+### RRT tree
+
+#### Edges
+```python
+rr.log("map/tree/edges", rr.LineStrips2D(tree.segments(), radii=0.0005, colors=[0, 0, 255, 128]))
+```
+
+#### New edges
+```python
+rr.log("map/new/new_edge", rr.LineStrips2D([(closest_node.pos, new_point)], colors=[color], radii=0.001))
+```
+
+#### Vertices
+```python
+rr.log(
+    "map/tree/vertices",
+    rr.Points2D([node.pos for node in tree], radii=0.002),
+    rr.AnyValues(cost=[float(node.cost) for node in tree]),
+)
+```
+
+#### Close nodes
+```python
+rr.log("map/new/close_nodes", rr.Points2D([node.pos for node in close_nodes]))
+```
+
+#### Closest node
+```python
+rr.log("map/new/closest_node", rr.Points2D([closest_node.pos], radii=0.008))
+```
+
+#### Random points
+```python
+rr.log("map/new/random_point", rr.Points2D([random_point], radii=0.008))
+```
+
+#### New points
+```python
+rr.log("map/new/new_point", rr.Points2D([new_point], radii=0.008))
+```
+
+#### Path
+```python
+rr.log("map/path", rr.LineStrips2D(segments, radii=0.002, colors=[0, 255, 255, 255]))
+```
+
+
+## Run the code
+To run this example, make sure you have the Rerun repository checked out and the latest SDK installed:
+```bash
+pip install --upgrade rerun-sdk  # install the latest Rerun SDK
+git clone git@github.com:rerun-io/rerun.git  # Clone the repository
+cd rerun
+git checkout latest  # Check out the commit matching the latest SDK release
+```
+Install the necessary libraries specified in the requirements file:
+```bash
+pip install -e examples/python/rrt_star
+```
+To experiment with the provided example, simply execute the main Python script:
+```bash
+python -m rrt_star # run the example
+```
+If you wish to customize it, explore additional features, or save it use the CLI with the `--help` option for guidance:
+```bash
+python -m rrt_star --help
+```