https://github.com/airo-ugent/airo-planner
Python package for single and dual robot arm motion planning.
Science Score: 13.0%
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○Scientific vocabulary similarity
Low similarity (11.5%) to scientific vocabulary
Repository
Python package for single and dual robot arm motion planning.
Basic Info
- Host: GitHub
- Owner: airo-ugent
- License: mit
- Language: Jupyter Notebook
- Default Branch: main
- Size: 162 KB
Statistics
- Stars: 11
- Watchers: 2
- Forks: 1
- Open Issues: 5
- Releases: 1
Metadata Files
README.md
airo-planner
Python package for single and dual robot arm motion planning.
Key motivation: - 🔗 Bridge the gap between OMPL's powerful (but robot-agnostic) sampling-based planners and Drake's collision checking for robots. - 🦾 Standardize and add other features taylored to robotic arm motion planning such as joint limits and planning to TCP poses.
Overview 🧾
Features: this packages provides two main things:
- 🤝 Interfaces: specify interfaces for robot arm motion planning
- SingleArmPlanner
- DualArmPlanner
- 🔌 Implementations: reliable and well-tested implementations of these interfaces.
- OMPL for single and dual arm planning to joint configurations or TCP poses
Design goals: - ⚓ Robustness and stability: provide an off-the-shelf motion planner that supports research by reliably covering most (not all) use cases at our labs, prioritizing dependability over niche, cutting-edge features. - 🧩 Modularity and flexibility in the core components: - 🧭 Motion planning algorithms - 💥 Collision checker - 🔙 Inverse kinematics - 🐛 Debuggability and transparency: many things can go wrong in motion planning, so we log generously and store debugging information (IK solutions, alternative paths) to troubleshoot issues.
- 🧪 Enable experimentation: Facilitate the benchmarking and exploration of experimental planning algorithms.
🗓️ Planned features: - 🎯 Drake optimization-based planning
Getting started 🚀
Complete the Installation 🔧 and then see the getting started notebooks, where we set up: * 🎲 OMPL for sampling-based motion planning * 🐉 Drake for collision checking * 🧮 ur-analytic-ik for inverse kinematics of a UR5e
Installation 🔧
airo-planner is available on PyPI and installable with pip:
pip install airo-planner
🚧 Important post-installation step
We depend on ompl with its Python bindings, which are not available on PyPI yet. The easiest way to install this for now is to use a pre-release wheel fom their Github:
wget https://github.com/ompl/ompl/releases/download/1.7.0/wheels-ubuntu-latest-x86_64.zip
unzip wheels-ubuntu-latest-x86_64.zip && rm wheels-ubuntu-latest-x86_64.zip
pip install https://github.com/ompl/ompl/releases/download/prerelease/ompl-1.7.0-cp310-cp310-manylinux_2_28_x86_64.whl
(Replace cp310 with your Python version, e.g. cp311 for Python 3.11)
Developer guide 🛠️
See the airo-mono developer guide.
A very similar process and tools are used for this package.
Releasing 🏷️
See airo-models, releasing airo-planner works the same way.
Owner
- Name: AIRO UGent
- Login: airo-ugent
- Kind: organization
- Website: https://airo.ugent.be/
- Repositories: 2
- Profile: https://github.com/airo-ugent
GitHub Events
Total
- Issues event: 1
- Watch event: 3
- Issue comment event: 1
- Push event: 5
- Pull request event: 2
- Fork event: 2
- Create event: 1
Last Year
- Issues event: 1
- Watch event: 3
- Issue comment event: 1
- Push event: 5
- Pull request event: 2
- Fork event: 2
- Create event: 1
Issues and Pull Requests
Last synced: 10 months ago
All Time
- Total issues: 0
- Total pull requests: 1
- Average time to close issues: N/A
- Average time to close pull requests: 4 days
- Total issue authors: 0
- Total pull request authors: 1
- Average comments per issue: 0
- Average comments per pull request: 2.0
- Merged pull requests: 1
- Bot issues: 0
- Bot pull requests: 0
Past Year
- Issues: 0
- Pull requests: 1
- Average time to close issues: N/A
- Average time to close pull requests: 4 days
- Issue authors: 0
- Pull request authors: 1
- Average comments per issue: 0
- Average comments per pull request: 2.0
- Merged pull requests: 1
- Bot issues: 0
- Bot pull requests: 0
Top Authors
Issue Authors
- Victorlouisdg (1)
- tlpss (1)
- adverley (1)
Pull Request Authors
- m-decoster (1)
- dnatov (1)
Top Labels
Issue Labels
Pull Request Labels
Packages
- Total packages: 1
-
Total downloads:
- pypi 217 last-month
- Total dependent packages: 1
- Total dependent repositories: 0
- Total versions: 3
- Total maintainers: 2
pypi.org: airo-planner
Motion planning for single and dual robot arms.
- Homepage: https://github.com/airo-ugent/airo-planner
- Documentation: https://airo-planner.readthedocs.io/
- License: MIT License
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Latest release: 0.0.3
published about 1 year ago
Rankings
Maintainers (2)
Dependencies
- actions/checkout v4 composite
- actions/setup-python v2 composite
- mamba-org/setup-micromamba v1.8.1 composite
- actions/checkout v4 composite
- actions/setup-python v2 composite
- pre-commit/action v2.0.3 composite
- actions/checkout v4 composite
- actions/download-artifact v3 composite
- actions/setup-python v4 composite
- actions/upload-artifact v3 composite
- pypa/gh-action-pypi-publish release/v1 composite
- sigstore/gh-action-sigstore-python v1.2.3 composite
- actions/checkout v4 composite
- mamba-org/setup-micromamba v1.8.1 composite
- airo-drake *
- loguru *
- mypy *
- numpy *
- pre-commit *
- pytest *