Sampling-based-Planning-for-Robot-Arm

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Sampling-based-Planning-for-Robot-Arm

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Sampling-based Planning Algorithms with Constraint for a 7-DoF Robot Arm. The algorithms include RRT, CBiRRT, PRM, and OBPRM.

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# Sampling-based Planning for Robot Arm

This is the final project of the CMU-16782. It has the implementation of basic forward/inverse kinematics, and the sampling_based path planning with constraints for the Franka Robot Arm.

For Ubuntu 16.04:

1. Install ROS Kinetic on your computer following instructions here: [http://wiki.ros.org/ kinetic/Installation/Ubuntu.](http://wiki.ros.org/ kinetic/Installation/Ubuntu. ) (Make sure to install the Desktop-Full Install version of ROS Kinetic.)

2. Install libfranka and franka_ros using the following command:

`sudo apt install ros-kinetic-libfranka ros-kinetic-franka-ros`

3. Install all requirements.

`pip install -r requirements.txt`

4. Change the path argument in visualize.launch to the path to your working folder.

5. Run the RRT planner:

`python3 plan.py --rrt` or `python3 plan.py --rrt --map2` for using the second map， or `python3 plan.py --rrt --map3` for using the third map.

Run the CBIRRT planner:

`python3 plan.py --rrtc` or `python3 plan.py --rrtc --map2` for using the second map, or `python3 plan.py --rrtc --map3` for using the third map.

Run the PRM planner:

`python3 plan.py --prm` or `python3 plan.py --prm --map2` for using the second map, or `python3 plan.py --prm --map3` for using the third map.

If reusing the graph created before:

`python3 plan.py --prm [--map2/map3]--reuse_graph`

Run the OBPRM planner:

`python3 plan.py --obprm` or `python3 plan.py --obprm --map2` for using the second map, or `python3 plan.py --obprm --map3` for using the third map.

If reusing the graph created before:

`python3 plan.py --obprm [--map2/map3]--reuse_graph`

### Environment

We designed three problems for the robot arm, in which it needs to move from a start position to agiven goal position while avoiding obstacles.

*Scene 1*: ![Scene 1](https://raw.githubusercontent.com/aaronzguan/Sampling-based-Planning-for-Robot-Arm/master/images/scene1.JPG)

*Scene 2*: ![Scene 2](https://raw.githubusercontent.com/aaronzguan/Sampling-based-Planning-for-Robot-Arm/master/images/scene2.JPG)

*Scene 3*: ![Scene 3](https://raw.githubusercontent.com/aaronzguan/Sampling-based-Planning-for-Robot-Arm/master/images/scene3.JPG)

### Video Demo

[Watch the video](https://youtu.be/d0d5chidEpo)

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