{"id":30438660,"url":"https://github.com/sinamirrazavi/sca_data_construction","last_synced_at":"2025-08-23T04:24:07.962Z","repository":{"id":92570505,"uuid":"80452095","full_name":"SinaMirrazavi/SCA_data_construction","owner":"SinaMirrazavi","description":"Constructing the  data set for Self-Collision Avoidance (SCA) between two or more arms.","archived":false,"fork":false,"pushed_at":"2018-08-08T13:38:28.000Z","size":22292,"stargazers_count":7,"open_issues_count":1,"forks_count":1,"subscribers_count":2,"default_branch":"master","last_synced_at":"2025-08-09T11:41:23.254Z","etag":null,"topics":["collision","collision-detection","kuka-rviz-visualization","multi-robot","robot","workspace"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"lgpl-3.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/SinaMirrazavi.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null}},"created_at":"2017-01-30T18:51:51.000Z","updated_at":"2025-07-17T23:00:52.000Z","dependencies_parsed_at":"2023-04-08T06:00:45.088Z","dependency_job_id":null,"html_url":"https://github.com/SinaMirrazavi/SCA_data_construction","commit_stats":null,"previous_names":["sinamirrazavi-sony/sca_data_construction","sinamirrazavi/sca_data_construction"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/SinaMirrazavi/SCA_data_construction","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/SinaMirrazavi%2FSCA_data_construction","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/SinaMirrazavi%2FSCA_data_construction/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/SinaMirrazavi%2FSCA_data_construction/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/SinaMirrazavi%2FSCA_data_construction/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/SinaMirrazavi","download_url":"https://codeload.github.com/SinaMirrazavi/SCA_data_construction/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/SinaMirrazavi%2FSCA_data_construction/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":271741898,"owners_count":24812937,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","status":"online","status_checked_at":"2025-08-23T02:00:09.327Z","response_time":69,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["collision","collision-detection","kuka-rviz-visualization","multi-robot","robot","workspace"],"created_at":"2025-08-23T04:24:03.149Z","updated_at":"2025-08-23T04:24:07.944Z","avatar_url":"https://github.com/SinaMirrazavi.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# SCA_data_construction\n[![Build Status](https://travis-ci.org/sinamr66/SCA_data_construction.svg?branch=master)](https://travis-ci.org/sinamr66/SCA_data_construction)\n\nThis repository includes the packages and instructions to generate a data set for Self-Collision Avoidance (SCA) between two or more arms. You can find the paper here:\n\nand the corresponding video here: \n\n\n**This package does not learn the SCA boundary. It just generates the SCA data-set.**\n\n# Dependencies \n  Mathlib form Robot-toolkit (https://github.com/epfl-lasa/robot-toolkit) \n  \n  KUKA Rviz visualization  (https://github.com/epfl-lasa/kuka-rviz-simulation) (Actually, you don't need it if you only want to generate the SCA data-set. This package is used  to vitualize the motion of the robots in plot_on_robot.cpp)\n  \n  KUKA FRI bridge (https://github.com/nbfigueroa/kuka_interface_packages) (Actually, you don't need it if you only want to generate the SCA data-set. This package is used  to vitualize the motion of the robots in plot_on_robot.cpp)\n  \n  Mlpack  (https://github.com/mlpack/mlpack) (Actually, you don't need it if you only want to generate the SCA data-set. This package is used to construct a probabilistic model for the reachable workspace of each robot. I prefer Matlab for doing this. The matlab code is also included in this package.)\n  \n  \n# Features:\n- Generating the data for self-collision boundary for two or more arms.\n\n- Vitalizing the robot configurations on the Rviz simulator.\n\n- Generating the data set of the positions of one end-effector. \n\n# Before make!\n\n1. Open [common.h](https://github.com/sinamr66/SCA_data_construction/blob/master/include/common.h).  and change folder_path to your home folder. \n2. To change the resolution of sampling and the position of the bases of the robots, open [constructing_data_set.cpp](https://github.com/sinamr66/SCA_data_construction/blob/master/src/constructing_data_set.cpp). \n3. To modify the kinematic of the robots or change the constraints on the joint workspaces, open  [constructing_data_set.cpp](https://github.com/sinamr66/SCA_data_construction/blob/master/src/constructing_data_set.cpp).\n  \n# How to run\n## 1.Generating SCA data-set\n  \nMake the data-set of each robot :\n  \n```\nrosrun  constructing_data_set constructing_data_set\n``` \n  \nThen analysis the data set and find the collided configuration and boundaries of the collided configurations :\n  \n```\nrosrun  constructing_data_set analysing_data_set\n\n```\n### 1.1 Visualizing the generated data set\n \n \n  Launch Rviz simulator with the correct parameters of each robot, for more information see [KUKA Rviz visualization](https://github.com/epfl-lasa/kuka-rviz-simulation).\n  \n  ```\nroslaunch kuka_lwr_bringup bimanual_simulation.launch\n``` \n\nRun \n\n```\nrosrun  constructing_data_set plot_on_robot\n``` \n\n## 2. Constructing a model of the reachbale space of a robot\n\nOpen [Learning_the_workspaces.cpp](https://github.com/sinamr66/SCA_data_construction/blob/master/src/Learning_the_workspaces.cpp) and edit it accordingly. Then make the package and run \n\n*If you want to learn the data set in C++, you need to uncomment some lines in this file.*\n\n```\nrosrun  constructing_data_set Learning_the_workspaces\n```  \n\nOpen Matlab and run [Learning_Workspace.m](https://github.com/sinamr66/SCA_data_construction/blob/master/models/Learning_Workspace.m)\n## Copyright\nPlease cite these papers if you are using this toolbox:\n@article{mirrazavi2018unified,\n  title={A unified framework for coordinated multi-arm motion planning},\n  author={Mirrazavi Salehian, Seyed Sina and Figueroa, Nadia and Billard, Aude},\n  journal={The International Journal of Robotics Research},\n  pages={0278364918765952},\n  publisher={SAGE Publications Sage UK: London, England}\n}\n\nFor more information contact Sina Mirrazavi.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fsinamirrazavi%2Fsca_data_construction","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fsinamirrazavi%2Fsca_data_construction","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fsinamirrazavi%2Fsca_data_construction/lists"}