"Grasp and Motion Planning Python Package."
Project description
This package provides grasp and motion planning using CasADi and IPOPT.
Installation
pip3 install grasp_planning
Usage
from grasp_planning import GOMP
import numpy as np
import time
import os
# Mug's pose
T_W_Obj = np.array([[-0.71929728, -0.69467357, 0.0063291, -2.35231148],
[ 0.69430406, -0.71916348, -0.02730871, 1.78948217],
[ 0.0235223, -0.01524876, 0.99960701, 0.71829593],
[ 0., 0., 0., 1. ]], dtype=float)
# Obstacle's pose
T_W_Obst = np.eye(4)
T_W_Obst[:3,3] = np.array([1.86, 0.4, 0.15]).T
# Current robot's state
q_init = np.array([0.0, 0.0, 0.0, 0.0, 0.0, 1.57, 1.57, 1.57, 1.57], dtype=float)
absolute_path = os.path.dirname(os.path.abspath(__file__))
URDF_FILE = absolute_path + "/assets/dingo_kinova_gripper.urdf"
num_waypoints = 3 # needs to be more than 3 for now
theta = np.pi/2 #Degree of freedom around grasp pose
planner = GOMP(num_waypoints, URDF_FILE, theta, 'world', 'arm_tool_frame')
planner.set_init_guess(q_init)
planner.set_boundary_conditions(q_start=q_init)
planner.add_grasp_constraint(waypoint_ID=2, tolerance=0.01)
for i in range(num_waypoints):
planner.add_collision_constraint(waypoint_ID=i,
child_link="chassis_link",
r_link=0.5,
r_obst=0.2,
tolerance=0.01)
planner.setup_problem(verbose=False)
start = time.time()
planner.update_constraints_params(T_W_Obj, T_W_Obst)
x, solver_flag = planner.solve()
end = time.time()
print(f"Computational time: {end-start}" )
print(f"Solver status: {solver_flag}" )
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