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Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | TODO: License declaration |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | Open source implementation of "CppFlow: Generative Inverse Kinematics for Efficient and Robust Cartesian Path Planning" (ICRA 2024) |
| Checkout URI | https://github.com/jstmn/cppflow.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-12-20 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | robotics motion-planning inverse-kinematics trajectory-optimization constrained-motion-planning |
| 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.
CppFlow
Cartesian path planning with IKFlow. Open source implementation to the paper “CppFlow: Generative Inverse Kinematics for Efficient and Robust Cartesian Path Planning”
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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