Science Score: 44.0%
This score indicates how likely this project is to be science-related based on various indicators:
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✓CITATION.cff file
Found CITATION.cff file -
✓codemeta.json file
Found codemeta.json file -
✓.zenodo.json file
Found .zenodo.json file -
○DOI references
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○Academic publication links
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○Institutional organization owner
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○Scientific vocabulary similarity
Low similarity (11.1%) to scientific vocabulary
Keywords
Repository
A pythonic motion planning library
Basic Info
Statistics
- Stars: 41
- Watchers: 4
- Forks: 7
- Open Issues: 2
- Releases: 3
Topics
Metadata Files
README.md
Pythonic Motion Planning
Motion planning is a computational problem to find a sequence of valid configurations that moves the object from the source to destination.
This library is designed for robotic applications, especially sampling-based algorithms for high-dimension configuration spaces(e.g., robot arm).
- pythonic: easy to debug, customize and extend
- standalone collision checker (hpp-fcl): without relying on any physical simulator (e.g., mujoco, pybullet, sapien) to check collision
- out-of-box: common motion planning algorithms (e.g., RRT-Connect) are implemented for robotic manipulation
Installation
This library has the following dependencies:
- pinocchio: processing URDF and robot kinematics
- hpp-fcl: collision checker
- toppra: time parameterization
From pip:
bash
pip install motion-planning
From source:
bash
git clone https://github.com/Jiayuan-Gu/motion-planning.git
pip install -e .
From Github directly:
bash
pip install --upgrade git+https://github.com/Jiayuan-Gu/motion-planning.git
Usage
See example.py for basic usage. Note that the SRDF associated with the URDF is needed to remove self-collision.
Logging
The logging level can be specified by the environment variable PYMP_LOG.
```bash
Set the logging level to DEBUG for pymp
export PYMP_LOG=DEBUG ```
Base pose
We support specifying the pose of the base link during the initialization of the planner. We support many formats of pose (e.g., [x, y, z] for position, [w, i, j, k] for quaternion, [x, y, z, w, i, j, k] for SE(3), or a 4x4 rigid transformation matrix)
```python from pymp import Planner
planner = Planner( ... base_pose=[0, 0, 0], ) ```
Troubleshooting
ImportError: libboost_python38.soorundefined symbol
Try to force reinstall pinocchio: pip install pin --no-cache-dir --force-reinstall --upgrade.
Owner
- Name: Jiayuan Gu
- Login: Jiayuan-Gu
- Kind: user
- Location: United States
- Company: University of California, San Diego
- Website: http://cseweb.ucsd.edu/~jigu/
- Repositories: 29
- Profile: https://github.com/Jiayuan-Gu
Ph.D. student at UCSD. Major in Computer Science.
Citation (CITATION.cff)
cff-version: 1.2.0
message: Thanks for using pymp. If you use this software, please cite it as below.
title: Pythonic Motion Planning
version: 0.1.4
authors:
- family-names: "Gu"
given-names: "Jiayuan"
orcid: "https://orcid.org/0000-0002-3207-7921"
- family-names: "Liu"
given-names: "Xiqiang"
date-released: "2022-12-05"
url: "https://github.com/Jiayuan-Gu/pymp"
GitHub Events
Total
- Issues event: 2
- Watch event: 10
- Issue comment event: 1
Last Year
- Issues event: 2
- Watch event: 10
- Issue comment event: 1
Dependencies
- actions/checkout v3 composite
- actions/setup-python v4 composite
- pypa/gh-action-pypi-publish 27b31702a0e7fc50959f5ad993c78deac1bdfc29 composite
- beautifulsoup4 *
- lxml *
- numpy *
- pin >=2.6.13
- toppra >=0.4.1
- trimesh *