gear

Collision Avoidance Path Planning for robotics in Rust-lang

Documents

Code example

minimum code example

```rust extern crate gear; extern crate nalgebra as na;

fn main() { // Create path planner with loading urdf file and set end link name let planner = gear::JointPathPlannerBuilder::tryfromurdffile("sample.urdf", "lwrist2") .expect("failed to create planner from urdf file") .collisioncheckmargin(0.01) .finalize(); // Create inverse kinematics solver let solver = gear::JacobianIKSolverBuilder::::new() .nummaxtry(1000) .allowabletargetdistance(0.01) .move_epsilon(0.0001) .finalize(); let solver = gear::RandomInitializeIKSolver::new(solver, 100); // Create path planner with IK solver let mut planner = gear::JointPathPlannerWithIK::new(planner, solver);

// Create obstacles
let obstacles =
    gear::create_compound_from_urdf("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 "l_wrist2"
let plan1 = planner.plan_with_ik(&ik_target_pose, &obstacles).unwrap();
println!("plan1 = {:?}", plan1);
ik_target_pose.translation.vector[2] += 0.50;
// plan the path from previous result
let plan2 = planner.plan_with_ik(&ik_target_pose, &obstacles).unwrap();
println!("plan2 = {:?}", plan2);

} ```

Run example with GUI

How to run

bash cargo run --release --example reach

GUI control

• Up/Down/Left/Right/f/b to move IK target

• type g to move the end of the arm to the target

• type i to just solve inverse kinematics for the target

• type r to set random pose
• type c to check collision

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.

bash cargo run --release --example reach YOUR_URDF_FILE_PATH END_LINK_NAME

For example,

PR2

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

Universal Robot: UR10

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

Sawyer

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