gear

Collision Avoidance Path Planning for robotics in Rust-lang

Documents

Code example

minimum code example

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::from_urdf_file("sample.urdf")
        .expect("failed to create planner from urdf file")
        .collision_check_margin(0.01)
        .finalize();
    // Create inverse kinematics solver
    let solver = gear::JacobianIKSolverBuilder::<f64>::new()
        .num_max_try(1000)
        .allowable_target_distance(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 kinematic chain from the end of the link
    let mut arm = planner.create_arm("l_wrist2").unwrap();

    // 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(&mut arm, &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(&mut arm, &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