Motion planning for single and dual robot arms.
Project description
airo-planner
Python package for single and dual robot arm motion planning.
Key motivation:
- 🔗 Bridge the gap between OMPL's powerful (but robot-agnostic) sampling-based planners and Drake's collision checking for robots.
- 🦾 Standardize and add other features taylored to robotic arm motion planning such as joint limits and planning to TCP poses.
Overview 🧾
Features: this packages provides two main things:
- 🤝 Interfaces: specify interfaces for robot arm motion planning
SingleArmPlanner
DualArmPlanner
- 🔌 Implementations: reliable and well-tested implementations of these interfaces.
- 🚧 Coming soon: OMPL for single (and dual arm) planning
Design goals:
-
⚓ Robustness and stability: provide an off-the-shelf motion planner that supports research by reliably covering most (not all) use cases at our labs, prioritizing dependability over niche, cutting-edge features.
-
🧩 Modularity and flexibility in the core components:
- 🧭 Motion planning algorithms
- 💥 Collision checker
- 🔙 Inverse kinematics
-
🐛 Debuggability and transparency: many things can go wrong in motion planning, so we log generously and store debugging information (IK solutions, alternative paths) to troubleshoot issues.
-
🧪 Enable experimentation: Facilitate the benchmarking and exploration of experimental planning algorithms.
🗓️ Planned features:
- 🎯 Drake optimization-based planning
Getting started 🚀
Complete the Installation 🔧 and then see 🚧 Coming soon: 01_getting_started.ipynb
, where we set up:
- 🎲 OMPL for sampling-based motion planning
- 🐉 Drake for collision checking
- 🧮 ur-analytic-ik for inverse kinematics of a UR5e
Installation 🔧
🚧 Coming soon: airo-planner
is available on PyPI and installable with pip:
pip install airo-planner
However it depends on ompl
with its Python bindings, which are not available on PyPI yet. The easiest way to install this for now is to use a pre-release wheel fom their Github:
pip install https://github.com/ompl/ompl/releases/download/prerelease/ompl-1.6.0-cp310-cp310-manylinux_2_28_x86_64.whl
Developer guide 🛠️
See the airo-mono
developer guide.
A very similar process and tools are used for this package.
Releasing 🏷️
See airo-models
, releasing airo-planner
works the same way.
Project details
Release history Release notifications | RSS feed
Download files
Download the file for your platform. If you're not sure which to choose, learn more about installing packages.
Source Distribution
Built Distribution
Hashes for airo_planner-0.0.1-py3-none-any.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | d6b67cf3b3ab8166cc955066ca6758258a7bd82f621eec347c908bc46238ecca |
|
MD5 | b5f99ccb31349bbebdcc47b52c4451ea |
|
BLAKE2b-256 | ed25288ebb3bcaa6d2682a5e1d0bab8f4936a9b785d60a5beac54160f9e8f408 |