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cppflow package from cppflow repo

cppflow

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.0.0
License TODO: License declaration
Build type AMENT_PYTHON
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jstmn/cppflow.git
VCS Type git
VCS Version master
Last Updated 2024-12-20
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Implementation of CppFlow - a fast cartesian planner

Additional Links

No additional links.

Maintainers

  • Jeremy Morgan

Authors

No additional authors.
README.md

CppFlow

Cartesian path planning with IKFlow. Open source implementation to the paper “CppFlow: Generative Inverse Kinematics for Efficient and Robust Cartesian Path Planning”

arxiv.org

Note: This project uses the w,x,y,z format for quaternions.

Installation

python3.8 is required

poetry install
# note: you can do 'poetry install --without dev' to exclude some non essential functionality

Getting started

Generate a plan for a single problem

# Problems:
#  - fetch_arm__circle
#  - fetch_arm__hello
#  - fetch_arm__rot_yz
#  - fetch_arm__s
#  - fetch_arm__square
#  - fetch__circle
#  - fetch__hello
#  - fetch__rot_yz
#  - fetch__s
#  - fetch__square
#  - panda__flappy_bird
#  - panda__2cubes
#  - panda__1cube

# you can replace 'fetch_arm__circle' with any of the problems above
python scripts/evaluate.py --planner CppFlowPlanner --problem=fetch_arm__circle --visualize

Recreate the results from the paper:

git checkout 2b6ad3097ad06af17e8d7eacdff78bbc98a1c3be
python scripts/benchmark.py --planner_name=CppFlowPlanner

Citation

@INPROCEEDINGS{10611724,
    author={Morgan, Jeremy and Millard, David and Sukhatme, Gaurav S.},
    booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA)}, 
    title={CppFlow: Generative Inverse Kinematics for Efficient and Robust Cartesian Path Planning}, 
    year={2024},
    volume={},
    number={},
    pages={12279-12785},
    keywords={Adaptation models;Generative AI;Graphics processing units;Kinematics;Programming;Trajectory;Planning},
    doi={10.1109/ICRA57147.2024.10611724}
}
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
rosidl_default_generators
rosidl_default_runtime
bdai_ros
bdai_ros2_wrappers
rclpy
std_msgs
cppflow_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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