Crate openrr_planner

OpenRR Planner

Collision Avoidance Path Planning for robotics in Rust-lang. This starts as a copy of gear crate.

Documents

Code example

minimum code example

use std::{path::Path, sync::Arc};

use k::nalgebra as na;
use ncollide3d::shape::Compound;
use openrr_planner::FromUrdf;

fn main() {
    let urdf_path = Path::new("sample.urdf");
    let robot = Arc::new(k::Chain::from_urdf_file(urdf_path).unwrap());

    // Create path planner with loading urdf file and set end link name
    let planner = openrr_planner::JointPathPlannerBuilder::from_urdf_file(urdf_path)
        .expect("failed to create planner from urdf file")
        .collision_check_margin(0.01)
        .reference_robot(robot.clone())
        .finalize()
        .unwrap();
    // Create inverse kinematics solver
    let solver = openrr_planner::JacobianIkSolver::default();
    let solver = openrr_planner::RandomInitializeIkSolver::new(solver, 100);
    // Create path planner with IK solver
    let mut planner = openrr_planner::JointPathPlannerWithIk::new(planner, solver);
    let target_name = "l_tool_fixed";
    // Create obstacles
    let obstacles = Compound::from_urdf_file("obstacles.urdf").expect("obstacle file not found");

    // Set IK target transformation
    let mut ik_target_pose = na::Isometry3::from_parts(
        na::Translation3::new(0.40, 0.20, 0.3),
        na::UnitQuaternion::from_euler_angles(0.0, -0.1, 0.0),
    );
    // Plan the path, path is the vector of joint angles for root to target_name
    let plan1 = planner
        .plan_with_ik(target_name, &ik_target_pose, &obstacles)
        .unwrap();
    println!("plan1 = {plan1:?}");

    // Apply plan1 to the reference robot (regarded as the real robot)
    let arm = k::Chain::from_end(robot.find(target_name).unwrap());
    arm.set_joint_positions_clamped(plan1.iter().last().unwrap());

    // Plan the path from previous result
    ik_target_pose.translation.vector[2] += 0.50;
    let plan2 = planner
        .plan_with_ik(target_name, &ik_target_pose, &obstacles)
        .unwrap();
    println!("plan2 = {plan2:?}");
}

Run example with GUI

How to run

cargo run --release --example reach

GUI control

• Up/Down/Left/Right/f/b to translate IK target
• Shift + Up/Down/Left/Right/f/b to rotate IK target
• type g to move the end of the arm to the target
• type i to just solve inverse kinematics for the target without collision check
• type r to set random pose
• type c to check collision
• type v to toggle shown element collision<->visual

Use your robot

The example can handle any urdf files (sample.urdf is used as default). It requires the name of the target end link name.

cargo run --release --example reach YOUR_URDF_FILE_PATH END_LINK_NAME

For example,

PR2

cargo run --release --example reach $(rospack find pr2_description)/robots/pr2.urdf.xacro l_gripper_palm_link

Universal Robot: UR10

cargo run --release --example reach $(rospack find ur_description)/urdf/ur10_robot.urdf.xacro ee_link

Sawyer

cargo run --release --example reach $(rospack find sawyer_description)/urdf/sawyer.urdf right_hand

License

Licensed under the Apache License, Version 2.0.

Re-exports

• pub use crate::collision::CollisionDetector;
• pub use crate::collision::FromUrdf;
• pub use crate::collision::SelfCollisionChecker;
• pub use crate::collision::SelfCollisionCheckerConfig;

Modules

• collision

Structs

• JacobianIkSolver
  Inverse Kinematics Solver using Jacobian matrix
• JointPathPlanner
  Collision Avoidance Path Planner
• JointPathPlannerBuilder
  Builder pattern to create JointPathPlanner
• JointPathPlannerConfig
• JointPathPlannerWithIk
  Joint path planner which supports inverse kinematics
• RandomInitializeIkSolver
  Randomize initial joint angles before solving
• TrajectoryPoint
  Struct for a point of a trajectory with multiple dimensions.

Enums

• Error
  Error for openrr_planner

Traits

• InverseKinematicsSolver
  IK solver

Functions

• create_chain_from_joint_names
  Create a sub-chain of the collision check model by a name list
• create_joint_path_planner
• generate_clamped_joint_positions_from_limits
  Clamp joint angles to set angles safely
• generate_random_joint_positions_from_limits
  Generate random joint angles from the optional limits
• get_reachable_region
  Check the poses which can be reached by the robot arm
• interpolate
  Interpolate position vectors
• modify_to_nearest_angle
  If the joint has no limit, select the nearest value from (x + 2pi *).
• set_clamped_joint_positionsDeprecated
  Set joint positions safely
• set_random_joint_positions
  Set random joint angles

Type Aliases

• Result
  Result for openrr_planner