https://github.com/openrr/gear

Collision Avoidance Path Planning in Rust-lang
https://github.com/openrr/gear

path-planning robotics rust-lang

Last synced: 25 days ago
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Collision Avoidance Path Planning in Rust-lang

• Host: GitHub
• URL: https://github.com/openrr/gear
• Owner: openrr
• License: apache-2.0
• Archived: true
• Created: 2017-10-09T14:16:02.000Z (over 7 years ago)
• Default Branch: master
• Last Pushed: 2021-01-07T00:57:25.000Z (about 4 years ago)
• Last Synced: 2025-01-02T01:24:53.814Z (about 1 month ago)
• Topics: path-planning, robotics, rust-lang
• Language: Rust
• Size: 165 KB
• Stars: 33
• Watchers: 5
• Forks: 5
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

Awesome Lists containing this project

• awesome-rust-list - gear - lang. (Path Planning)
• awesome-rust-list - gear - lang. (Path Planning)

README

        
# gear [![Build Status](https://travis-ci.org/openrr/gear.svg?branch=master)](https://travis-ci.org/openrr/gear) [![crates.io](https://img.shields.io/crates/v/gear.svg)](https://crates.io/crates/gear)

**WARNING!: Development of `gear` is stopped and moved into [openrr/openrr-planner](https://github.com/openrr/openrr/tree/main/openrr-planner). It is the same except for the package name now.**

Collision Avoidance Path Planning for robotics in Rust-lang

[![Video](https://j.gifs.com/kZZyJK.gif)](http://www.youtube.com/watch?v=jEu3EfpVAI8)

[Documents](https://docs.rs/gear)

## Code example

### [minimum code example](examples/minimum.rs)

```rust

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::::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

```bash

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.

```bash

cargo run --release --example reach YOUR_URDF_FILE_PATH END_LINK_NAME

```

For example,

#### PR2

```bash

cargo run --release --example reach $(rospack find pr2_description)/robots/pr2.urdf.xacro l_gripper_palm_link

```

[![Video](https://j.gifs.com/kZZyJK.gif)](http://www.youtube.com/watch?v=jEu3EfpVAI8)

#### Universal Robot: UR10

```bash

cargo run --release --example reach $(rospack find ur_description)/urdf/ur10_robot.urdf.xacro ee_link

```

[![Sawyer movie](https://j.gifs.com/ZVVqDw.gif)](https://www.youtube.com/watch?v=0YujRKUto-4)

#### Sawyer

```bash

cargo run --release --example reach $(rospack find sawyer_description)/urdf/sawyer.urdf right_hand

```

[![UR5 movie](https://j.gifs.com/G55yxL.gif)](https://www.youtube.com/watch?v=0YujRKUto-4)