/HarmoniousSampling

Harmonious Sampling for Mobile Manipulation Planning, IROS 2019.

Primary LanguageC++BSD 3-Clause "New" or "Revised" LicenseBSD-3-Clause

Harmonious sampling

You can see information about this code through this webcite.(We uploaded our paper and video.)
https://sglab.kaist.ac.kr/HarmoniousSampling/

  1. Install the dependencies.
 MoveIt!, OpenRAVE, OMPL
  1. Setup your robot.
 roslaunch moveit_setup_assistant setup_assistant.launch

For example, we make three groups.

  • PLANNING_GROUP: base(3-DoF) + right_arm(7-DoF)
  • BASE_GROUP: base(3-DoF)
  • MANI_COLL_CHECK_GROUP: all links without rigth_arm(7-DoF). This is for collision checking to identify manipulation regions.
  • If you don't use PR2 robot, you have to add your robot to OpenRAVE. Change the "robot.xml" file in the "script" folder.
  1. Execute the code.
  • Run the "move_group.launch" that is set up for your robot.
  • Run the python file "possible_confs.py": 
     python possible_confs.py
    It needs a lot of time to construct the inverse kinematics and inverse reachability databases for your robot.
  • Run the planning code. 
     rosrun harmonious_sampling main
    • You should change the "main.cpp" according to your settings. (e.g., bound setting, start configuration, target grasp pose ...)
    • You can change the scene. "Scene.cpp" is an example. So, you should change it.
  1. You can change the parameters in the "HarmoniousParameters.cpp" file.