sleipnirgroup / choreo Goto Github PK

A graphical tool for planning time-optimized trajectories for autonomous mobile robots in the FIRST Robotics Competition.

License: BSD 3-Clause "New" or "Revised" License

HTML 0.07% CSS 14.58% TypeScript 72.62% Rust 3.55% Java 3.75% Nix 0.05% C++ 5.33% Shell 0.05%

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Add eslint to CI

It prints a lot of warnings on app startup that should get fixed. We can catch them in CI instead.

[0] Compiled with warnings.
[0] 
[0] [eslint] 
[0] src/components/field/Field.tsx
[0]   Line 4:8:   'DocumentManagerContext' is defined but never used  @typescript-eslint/no-unused-vars
[0]   Line 5:8:   'FieldOverlay' is defined but never used            @typescript-eslint/no-unused-vars
[0]   Line 8:8:   'Moveable' is defined but never used                @typescript-eslint/no-unused-vars
[0]   Line 17:3:  Useless constructor                                 @typescript-eslint/no-useless-constructor
[0] 
[0] src/components/field/svg/FieldOverlayRoot.tsx
[0]   Line 1:10:   'autorun' is defined but never used                   @typescript-eslint/no-unused-vars
[0]   Line 1:19:   'IReactionDisposer' is defined but never used         @typescript-eslint/no-unused-vars
[0]   Line 3:28:   'LegacyRef' is defined but never used                 @typescript-eslint/no-unused-vars
[0]   Line 3:39:   'ReactNode' is defined but never used                 @typescript-eslint/no-unused-vars
[0]   Line 7:10:   'IHolonomicWaypointStore' is defined but never used   @typescript-eslint/no-unused-vars
[0]   Line 8:8:    'styles' is defined but never used                    @typescript-eslint/no-unused-vars
[0]   Line 10:8:   'OverlayWaypointOld' is defined but never used        @typescript-eslint/no-unused-vars
[0]   Line 11:13:  'd3' is defined but never used                        @typescript-eslint/no-unused-vars
[0]   Line 20:7:   'FieldBackground' is assigned a value but never used  @typescript-eslint/no-unused-vars
[0] 
[0] src/components/field/svg/OverlayWaypoint.tsx
[0]   Line 6:8:     'ReactDOM' is defined but never used                     @typescript-eslint/no-unused-vars
[0]   Line 7:10:    'DragContainerElement' is defined but never used         @typescript-eslint/no-unused-vars
[0]   Line 14:7:    'ROTATE_HANDLE_DIST' is assigned a value but never used  @typescript-eslint/no-unused-vars
[0]   Line 131:28:  Expected '===' and instead saw '=='                      eqeqeq
[0]   Line 132:28:  Expected '===' and instead saw '=='                      eqeqeq
[0]   Line 140:11:  'px' is assigned a value but never used                  @typescript-eslint/no-unused-vars
[0] 
[0] src/components/navbar/PathSelect.tsx
[0]   Line 44:3:   Useless constructor                  @typescript-eslint/no-useless-constructor
[0]   Line 51:45:  Expected '!==' and instead saw '!='  eqeqeq
[0]   Line 51:91:  Expected '!==' and instead saw '!='  eqeqeq
[0] 
[0] src/components/sidebar/Sidebar.tsx
[0]   Line 10:9:   'faDiscord' is defined but never used  @typescript-eslint/no-unused-vars
[0]   Line 10:20:  'faGithub' is defined but never used   @typescript-eslint/no-unused-vars
[0]   Line 11:9:   'faGear' is defined but never used     @typescript-eslint/no-unused-vars
[0] 
[0] src/document/DocumentModel.ts
[0]   Line 215:15:  'element' is assigned a value but never used  @typescript-eslint/no-unused-vars
[0] 
[0] Search for the keywords to learn more about each warning.
[0] To ignore, add // eslint-disable-next-line to the line before.
[0] 
[0] WARNING in [eslint] 
[0] src/components/field/Field.tsx
[0]   Line 4:8:   'DocumentManagerContext' is defined but never used  @typescript-eslint/no-unused-vars
[0]   Line 5:8:   'FieldOverlay' is defined but never used            @typescript-eslint/no-unused-vars
[0]   Line 8:8:   'Moveable' is defined but never used                @typescript-eslint/no-unused-vars
[0]   Line 17:3:  Useless constructor                                 @typescript-eslint/no-useless-constructor
[0] 
[0] src/components/field/svg/FieldOverlayRoot.tsx
[0]   Line 1:10:   'autorun' is defined but never used                   @typescript-eslint/no-unused-vars
[0]   Line 1:19:   'IReactionDisposer' is defined but never used         @typescript-eslint/no-unused-vars
[0]   Line 3:28:   'LegacyRef' is defined but never used                 @typescript-eslint/no-unused-vars
[0]   Line 3:39:   'ReactNode' is defined but never used                 @typescript-eslint/no-unused-vars
[0]   Line 7:10:   'IHolonomicWaypointStore' is defined but never used   @typescript-eslint/no-unused-vars
[0]   Line 8:8:    'styles' is defined but never used                    @typescript-eslint/no-unused-vars
[0]   Line 10:8:   'OverlayWaypointOld' is defined but never used        @typescript-eslint/no-unused-vars
[0]   Line 11:13:  'd3' is defined but never used                        @typescript-eslint/no-unused-vars
[0]   Line 20:7:   'FieldBackground' is assigned a value but never used  @typescript-eslint/no-unused-vars
[0] 
[0] src/components/field/svg/OverlayWaypoint.tsx
[0]   Line 6:8:     'ReactDOM' is defined but never used                     @typescript-eslint/no-unused-vars
[0]   Line 7:10:    'DragContainerElement' is defined but never used         @typescript-eslint/no-unused-vars
[0]   Line 14:7:    'ROTATE_HANDLE_DIST' is assigned a value but never used  @typescript-eslint/no-unused-vars
[0]   Line 131:28:  Expected '===' and instead saw '=='                      eqeqeq
[0]   Line 132:28:  Expected '===' and instead saw '=='                      eqeqeq
[0]   Line 140:11:  'px' is assigned a value but never used                  @typescript-eslint/no-unused-vars
[0] 
[0] src/components/navbar/PathSelect.tsx
[0]   Line 44:3:   Useless constructor                  @typescript-eslint/no-useless-constructor
[0]   Line 51:45:  Expected '!==' and instead saw '!='  eqeqeq
[0]   Line 51:91:  Expected '!==' and instead saw '!='  eqeqeq
[0] 
[0] src/components/sidebar/Sidebar.tsx
[0]   Line 10:9:   'faDiscord' is defined but never used  @typescript-eslint/no-unused-vars
[0]   Line 10:20:  'faGithub' is defined but never used   @typescript-eslint/no-unused-vars
[0]   Line 11:9:   'faGear' is defined but never used     @typescript-eslint/no-unused-vars
[0] 
[0] src/document/DocumentModel.ts
[0]   Line 215:15:  'element' is assigned a value but never used  @typescript-eslint/no-unused-vars
[0] 
[0] webpack compiled with 1 warning

App crash with long path

Path JSON:
https://pastebin.com/4UDPUzn3

Using arm release 0.2.0

Docs on local dev server and build process

Increase user feedback

From #115 and others

solver failure: error snackbar
save file load failure/invalid: error snackbar
Export Trajectory: disable w/tooltip if no trajectory samples exist

Can't Generate Path

After making a fairly long path, the generate button becomes disabled with the text "Generate path (needs 2 waypoints)". This is on the current alpha release version.

Path:

{
    "version": "v0.0.0",
    "robotConfiguration": {
        "mass": 63.5029,
        "rotationalInertia": 5.6,
        "wheelMaxTorque": 1.9,
        "wheelMaxVelocity": 16,
        "wheelbase": 0.57785,
        "trackWidth": 0.57785,
        "bumperLength": 0.9,
        "bumperWidth": 0.9,
        "wheelRadius": 0.0508
    },
    "paths": {
        "Broken Path": {
            "waypoints": [
                {
                    "x": 1.847985029220581,
                    "y": 2.9409890174865723,
                    "heading": 3.1286062808745037,
                    "velocityMagnitude": 0,
                    "velocityAngle": 0,
                    "xConstrained": true,
                    "yConstrained": true,
                    "headingConstrained": true,
                    "velocityMagnitudeConstrained": false,
                    "velocityAngleConstrained": false,
                    "angularVelocity": 0,
                    "angularVelocityConstrained": false,
                    "controlIntervalCount": 0
                },
                {
                    "x": 2.8469085693359375,
                    "y": 3.332319974899292,
                    "heading": 3.141592653589793,
                    "velocityMagnitude": 0,
                    "velocityAngle": 0,
                    "xConstrained": true,
                    "yConstrained": true,
                    "headingConstrained": true,
                    "velocityMagnitudeConstrained": false,
                    "velocityAngleConstrained": false,
                    "angularVelocity": 0,
                    "angularVelocityConstrained": false,
                    "controlIntervalCount": 0
                },
                {
                    "x": 5.946660995483398,
                    "y": 3.414705514907837,
                    "heading": 0,
                    "velocityMagnitude": 0,
                    "velocityAngle": 0,
                    "xConstrained": true,
                    "yConstrained": true,
                    "headingConstrained": true,
                    "velocityMagnitudeConstrained": false,
                    "velocityAngleConstrained": false,
                    "angularVelocity": 0,
                    "angularVelocityConstrained": false,
                    "controlIntervalCount": 0
                },
                {
                    "x": 6.8940935134887695,
                    "y": 3.404407262802124,
                    "heading": 0,
                    "velocityMagnitude": 0,
                    "velocityAngle": 0,
                    "xConstrained": true,
                    "yConstrained": true,
                    "headingConstrained": true,
                    "velocityMagnitudeConstrained": false,
                    "velocityAngleConstrained": false,
                    "angularVelocity": 0,
                    "angularVelocityConstrained": false,
                    "controlIntervalCount": 0
                },
                {
                    "x": 6.430675506591797,
                    "y": 3.404407262802124,
                    "heading": 0,
                    "velocityMagnitude": 0,
                    "velocityAngle": 0,
                    "xConstrained": true,
                    "yConstrained": true,
                    "headingConstrained": true,
                    "velocityMagnitudeConstrained": false,
                    "velocityAngleConstrained": false,
                    "angularVelocity": 0,
                    "angularVelocityConstrained": false,
                    "controlIntervalCount": 0
                },
                {
                    "x": 5.26698112487793,
                    "y": 3.414705514907837,
                    "heading": 3.1254650337956287,
                    "velocityMagnitude": 0,
                    "velocityAngle": 0,
                    "xConstrained": true,
                    "yConstrained": true,
                    "headingConstrained": true,
                    "velocityMagnitudeConstrained": false,
                    "velocityAngleConstrained": false,
                    "angularVelocity": 0,
                    "angularVelocityConstrained": false,
                    "controlIntervalCount": 0
                },
                {
                    "x": 2.970486640930176,
                    "y": 3.404407262802124,
                    "heading": 3.134599712470048,
                    "velocityMagnitude": 0,
                    "velocityAngle": 0,
                    "xConstrained": true,
                    "yConstrained": true,
                    "headingConstrained": true,
                    "velocityMagnitudeConstrained": false,
                    "velocityAngleConstrained": false,
                    "angularVelocity": 0,
                    "angularVelocityConstrained": false,
                    "controlIntervalCount": 0
                },
                {
                    "x": 1.9612650871276855,
                    "y": 3.6000726222991943,
                    "heading": 3.141592653589793,
                    "velocityMagnitude": 0,
                    "velocityAngle": 0,
                    "xConstrained": true,
                    "yConstrained": true,
                    "headingConstrained": true,
                    "velocityMagnitudeConstrained": false,
                    "velocityAngleConstrained": false,
                    "angularVelocity": 0,
                    "angularVelocityConstrained": false,
                    "controlIntervalCount": 0
                },
                {
                    "x": 2.8366103172302246,
                    "y": 3.3735127449035645,
                    "heading": 0.00961515464871096,
                    "velocityMagnitude": 0,
                    "velocityAngle": 0,
                    "xConstrained": true,
                    "yConstrained": true,
                    "headingConstrained": true,
                    "velocityMagnitudeConstrained": false,
                    "velocityAngleConstrained": false,
                    "angularVelocity": 0,
                    "angularVelocityConstrained": false,
                    "controlIntervalCount": 0
                },
                {
                    "x": 5.339068412780762,
                    "y": 3.394109010696411,
                    "heading": 0,
                    "velocityMagnitude": 0,
                    "velocityAngle": 0,
                    "xConstrained": true,
                    "yConstrained": true,
                    "headingConstrained": true,
                    "velocityMagnitudeConstrained": false,
                    "velocityAngleConstrained": false,
                    "angularVelocity": 0,
                    "angularVelocityConstrained": false,
                    "controlIntervalCount": 0
                },
                {
                    "x": 6.337991714477539,
                    "y": 3.929614543914795,
                    "heading": 0.7562093421285745,
                    "velocityMagnitude": 0,
                    "velocityAngle": 0,
                    "xConstrained": true,
                    "yConstrained": true,
                    "headingConstrained": true,
                    "velocityMagnitudeConstrained": false,
                    "velocityAngleConstrained": false,
                    "angularVelocity": 0,
                    "angularVelocityConstrained": false,
                    "controlIntervalCount": 0
                },
                {
                    "x": 6.852900505065918,
                    "y": 4.413629055023193,
                    "heading": 0.7509291723814462,
                    "velocityMagnitude": 0,
                    "velocityAngle": 0,
                    "xConstrained": true,
                    "yConstrained": true,
                    "headingConstrained": true,
                    "velocityMagnitudeConstrained": false,
                    "velocityAngleConstrained": false,
                    "angularVelocity": 0,
                    "angularVelocityConstrained": false,
                    "controlIntervalCount": 0
                },
                {
                    "x": 6.440973281860352,
                    "y": 4.053192615509033,
                    "heading": 0.7356656243694437,
                    "velocityMagnitude": 0,
                    "velocityAngle": 0,
                    "xConstrained": true,
                    "yConstrained": true,
                    "headingConstrained": true,
                    "velocityMagnitudeConstrained": false,
                    "velocityAngleConstrained": false,
                    "angularVelocity": 0,
                    "angularVelocityConstrained": false,
                    "controlIntervalCount": 0
                },
                {
                    "x": 5.318471908569336,
                    "y": 3.414705514907837,
                    "heading": 3.126778992329981,
                    "velocityMagnitude": 0,
                    "velocityAngle": 0,
                    "xConstrained": true,
                    "yConstrained": true,
                    "headingConstrained": true,
                    "velocityMagnitudeConstrained": false,
                    "velocityAngleConstrained": false,
                    "angularVelocity": 0,
                    "angularVelocityConstrained": false,
                    "controlIntervalCount": 0
                },
                {
                    "x": 2.795417547225952,
                    "y": 3.3735127449035645,
                    "heading": 2.9729955306423057,
                    "velocityMagnitude": 0,
                    "velocityAngle": 0,
                    "xConstrained": true,
                    "yConstrained": true,
                    "headingConstrained": true,
                    "velocityMagnitudeConstrained": false,
                    "velocityAngleConstrained": false,
                    "angularVelocity": 0,
                    "angularVelocityConstrained": false,
                    "controlIntervalCount": 0
                },
                {
                    "x": 2.0333521366119385,
                    "y": 3.476494550704956,
                    "heading": 3.0118902024990373,
                    "velocityMagnitude": 0,
                    "velocityAngle": 0,
                    "xConstrained": true,
                    "yConstrained": true,
                    "headingConstrained": true,
                    "velocityMagnitudeConstrained": false,
                    "velocityAngleConstrained": false,
                    "angularVelocity": 0,
                    "angularVelocityConstrained": false,
                    "controlIntervalCount": 0
                }
            ],
            "trajectory": null
        }
    }
}

Delete or rename the selected path

Use JSON Schema for document specifications

Use JSON Schema for the document specification.

Opened JSON files can then be validated using jsonschema.

Solver error with 2 points and any velocity magnitude constraint

Uncaught (in promise) Error in Opti::subject_to [OptiNode] at .../casadi/core/optistack.cpp:94:
.../casadi/core/optistack_internal.cpp:905: Assertion "!g.is_constant()" failed:
You passed a constant to `subject_to`. You need a symbol to form a constraint.

SolverErrors.json.txt

Allow a different robot configuration for each path

Due to the current state of the trajectory generator, the physics parameters of the robot often need to be modified and tuned for each path. This is not ideal, but it's just the way it is right now. I know this from using HelixNavigator in the 2023 season.

If this feature is not added, users will be forced into creating a separate document file for each path, not utilizing the multi-path selection user interface within the app.

Windows undefined symbol error when building with `cargo build`

This can be avoided by using cargo build --release or npm run tauri dev -- --release.

Disable f5-refresh and right click menu

from #115

Pipe robot config to generate function from frontend.

Currently, the robot config set in the frontend is not plumbed to the Rust function for generating trajectories.
Create the proper structs in Rust and JS plumbing to accept a robot config in the generate command.

Running in MacOS not working

Whenever I try to run the program on MacOS (Intel Silicon), I'm getting issues with it finding the dylib for /usr/local/lib/libTrajoptLib.dylib. I get the error of

dyld[53276]: Library not loaded: @rpath/libTrajoptLib.dylib
  Referenced from: <A497B11A-EBBB-325A-9BD5-006564060FE6> /Users/bacon/dev/frc/UntitledWaypointEditor/src-tauri/target/debug/untitled-waypoint-editor
  Reason: tried: '/Users/bacon/dev/frc/UntitledWaypointEditor/src-tauri/target/debug/libTrajoptLib.dylib' (no such file), '/Users/bacon/dev/frc/UntitledWaypointEditor/src-tauri/target/debug/libTrajoptLib.dylib' (no such file), '/usr/local/lib/libTrajoptLib.dylib' (no such file), '/usr/lib/libTrajoptLib.dylib' (no such file, not in dyld cache)

Is there a step that's not included in the readme that I'm missing?

Note: I've tried setting LD_LIBRARY_PATH and it doesn't seem to affect anything.

Add keybinds

Keybinds for the most used parts of the UI:

The generate button
Showing and hiding the grid, field, etc.
Saving, exporting, opening files
Playing and pausing the animation

Pass path data to native code as serialized JSON string, not FFI arguments

This enables more flexibility and less duplication of data types.

There are two main options to do this:
1.
a. TS frontend sends path string to Tauri Rust backend through a Tauri command.
b. Rust parses it and sets up TrajoptLib through CXX bindings similar to the existing setup.
c. TrajoptLib returns an array of samples, which Rust serialized and returns as the command response.
2. Same as 1 but Rust directly forwards the string to be parsed by TrajoptLib, negating the need for individual bindings.

File import

Clicking on an already-selected sidebar item should select nothing

from #115
This is less of an issue with the less-intrusive waypoint and constraint panels.

Name of app in task manager is incorrect

From #115
In task manager, Choreo is listed under its description text, "A graphical tool for planning...". Unclear where the task manager title is pulled from.

Include screenshot or gif of app in README

Suggestions for improved numeric input boxes

Here is my idea for a better way of doing the numeric input text boxes:

The Input component should have three states: non-focused, focused, and editing.
non-focused is the default state which is shown before the user interacts with anything.
In the non-focused state, only three digits of precision are shown, and the value rendered is bound to the current state in the document model.
When the user clicks on the text box area, the state goes to focused.
In the focused state, all digits of precision are shown, and the value rendered is bound to the current state in the document model. The text is always completely selected in the focused state.
When in the focused or editing state, if the user clicks outside the box, it goes back to the non-focused state.
When in the focused state, if the user types anything in the text box or makes it so the text isn't completely selected, it goes into the editing state.
In the editing state, the value rendered is not bound to the state in the document model.
When in the editing state and the user presses "Enter", the value in the text box is saved in the document model, and the state switches back to focused
When in the editing state and the user presses "Escape", the state switches back to focused and whatever value is in the text box is thrown away (it won't save the new value and will revert back to the value before editing).

Note that this approach would mean the value in the document model won't update until the user presses "Enter". I think that's fine though.

Link to example project in README

The example project is at https://github.com/SleipnirGroup/ChoreoSwerveBot.

Draw the shape of the generated trajectory

Dalton's Feedback

I didn't actually check if any issues are already open, but this is a collection of my feedback.

Feature Requests

Custom field image

Bugs

No way to close "Robot Config" after clicking on it.
Clicking off of a path name should save the name (I didn't realize I needed to press "enter" to save the path)
F5 and right click menu should be disabled. I accidentally refreshed and lost all my progress
After deleting all waypoints, I was unable to add any?

Memory leak when adding paths. Added 100 paths, initially spiked to 200MB then settled down to 100. Was initially 80. I can reliably reproduce this and have gotten it to about 300MB settled after ~300 paths.

General Things

Application started very tiny (maybe like 600x600px)
Click area for an existing waypoint is too tiny
Opening an invalid JSON doesn't do anything (my shrek movie as JSON passed), but it should at least tell the user it's bad.
Creating a new file and attempting to export a trajectory (no points created), does nothing.
- In general, a couple more things need user feedback (notifying the user something is happening)
- e.g. generating trajectory,
Tooltips for Mass/Mol/Robot constants should be added
Choreo version should be added somewhere, maybe titlebar of the application (for user debugging, I just pulled the artifact from
53be0fa.
Launches with a cmdline, that should probably be hidden
Name of the app in task manager seems incorrect

Overall thoughts

Application is quite stable for me. Wasn't able to force a crash without doing malicious things (deleting app/system files). My complains are honestly pretty minor.

Automatically invalidate outdated trajectories after path is modified

After a trajectory is generated then the user modifies the path, the user must be able to tell that the currently stored generated trajectory is no longer valid for the newly modified path.

Choreo launches with a terminal window

From #115
Reinstate the line in main.rs that hides this.

App initial size is 800x600: increase

From #115
Relevant configuration is at the end of tauri.conf.json

Numeric input text boxes don't update

Screen_Recording_2023-08-01_at_21.26.22.mov

Add commandline interface

In the spirit of one-click builds, I'd like the build task of a freshly cloned robot project to noninteractively generate trajectories and output them to the deploy folder for GradleRIO to deploy. A noninteractive commandline mode would facilitate this.

This makes tweaking waypoints before a match via the project JSON or via the UI less error-prone, because it ensures the generated outputs during a deploy are up to date.

Memory leak when adding paths

From #115

Memory leak when adding paths. Added 100 paths, initially spiked to 200MB then settled down to 100. Was initially 80. I can reliably reproduce this and have gotten it to about 300MB settled after ~300 paths.

Hypothesis: is this the undo history? investigate limited-length undo history.

White bar at bottom of screen on MacOS fullscreen

Linux version installed with `.deb` fails to run

Opening Choreo:

./choreo: error loading shared libraries: libcasadi.so.3.7: cannot open shared object file: No such file or directory

So choreo is able to find libTrajoptLib.so, but it can't find libcasadi.so.3.7.

objdump -x libTrajoptLib.so |grep 'R.*PATH'

This yields the following:

RUNPATH              /home/runner/work/Choreo/Choreo/src-tauri/target/release/build/trajoptlib-c5c9b7a7279c9368/out/lib

There should be another rpath entry for the current directory, so $ORIGIN/.

This is likely an issue with TrajoptLib not adding the proper rpath entries to libTrajoptLib.so.

Support diff drive chassis

Compile trajectory optimizer to webassembly

Path Name input and number input should commit on blur

Clicking away should be the same as hitting Enter.

From #115

Add GitHub Actions CI to ensure the app compiles

Tooltips for robot config and constraint config

From #115

Users can miss that a view layer is turned off

from #115 in regards to waypoints

Math expression parsing for numerical entry text boxes

Example: typing 2 + 3 into a number text box should enter the value of 5.

Basic mathematical syntax, functions, and constants should be supported. (sin(pi/2)+1*2)^2 will result in 9.

An example implementation of this is in HelixNavigator.

Inconsistent pointer behavior

The mouse pointer currently changes to a finger when you hover above the orientation handle for a waypoint.
For consistency, recommend also doing this when you hover above the x-y position handle.

Solver does not wrap -pi to pi

`npm run tauri dev` can't find libTrajoptLib.so

I followed these steps:

Delete the target folder and any left over .so files in the src-tauri folder.
Run npm install from the repo root
Run npm run tauri dev from the repo root

    Finished dev [unoptimized + debuginfo] target(s) in 2m 30s
/home/tav/git/Choreo/src-tauri/target/debug/choreo: error while loading shared libraries: libTrajoptLib.so: cannot open shared object file: No such file or directory

Here's what's in my folders:

[tav@myriad Choreo]$ ls
icon        node_modules       public     spec       tsconfig.json
index.html  package-lock.json  README.md  src        tsconfig.node.json
LICENSE     package.json       scripts    src-tauri  vite.config.ts

[tav@myriad src-tauri]$ pwd
/home/tav/git/Choreo/src-tauri
[tav@myriad src-tauri]$ ls
build.rs                    libcasadi_nlpsol_ipopt.so      libTrajoptLib.so
Cargo.lock                  libcoinmetis.so.2              src
Cargo.toml                  libcoinmumps.so.3              target
icons                       libgfortran-040039e1.so.5.0.0  tauri.conf.in.json
libcasadi-tp-openblas.so.0  libipopt.so.3                  tauri.conf.json
libcasadi.so.3.7            libquadmath-96973f99.so.0.0.0

[tav@myriad debug]$ pwd
/home/tav/git/Choreo/src-tauri/target/debug
[tav@myriad debug]$ ls
build  choreo  choreo.d  deps  examples  incremental

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