Overview

1. FCL Libary collision checking

• 3 joint manipulator
• kinodynamic car

python3 arm_vis.py cfg/arm_env_0.yaml cfg/arm_plan_0.yaml

python3 car_vis.py cfg/car_env_0.yaml cfg/car_plan_0.yaml

python3 collision.py cfg/car_env_0.yaml cfg/car_plan_0.yaml output.yaml

2. RRT, Nearest neighbour, Tree Search

• Geometric planning RRT manipulator:

python3 rrt.py cfg/arm_0.yaml arm_plan_0.yaml

• Kinodynamic planning RRT car:

3. OMPL, benchmark planner, Sampling (Gaussian, Bridge, Uniform, Obstacle)

docker run --rm -v ${PWD}:/home/ompl -P kavrakilab/omplapp python3 script.py

python3 ompl_planner.py cfg/arm_0.yaml arm_plan_0.yaml

python3 ompl_planner.py cfg/car_0.yaml car_plan_0.yaml

python3 ompl_benchmark.py cfg/car_1.yaml car_1.log

4. SVM, Bezier Curves, Differential flatness, Optimization (cvxpy)

python3 opt_safe.py cfg/bezier_0.yaml bezier_0.pdf

python3 opt_safe.py cfg/bezier_0.yaml bezier_0.pdf --export-car bezier_car_plan_0.yaml

python3 opt_safe.py cfg/bezier_0.yaml bezier_0.pdf --export-arm bezier_arm_plan_0.yaml