Annelouk van Mierlo: 4693746
Caspar Meijer: 4719298
Jurjen Scharringa: 4708652
Marijn de Rijk: 4888871
Caspar Meijer: 4719298
Jurjen Scharringa: 4708652
Marijn de Rijk: 4888871
This project is made for the group assignment of the course RO47005 at the TU Delft. The aim for this project is to implement motion planning algorithms for a mobile manipulator, allowing it to navigate through a simulated environment and perform an action with the robot arm. The mobile manipulator that is used is the Albert Robot, provided in Max Spahn's package.
This file will contain the following contents:
- Content description
- Installation guide
- Windows
- Linux
- Run guide
The repository consists of the following files with corresponding descriptions:
main.py
: main file to run the simulationurdf_env_helpers.py
: helper file to add obstacles and goals to the urfd environmentglobal_path_planning.py
: to compute the path for Albert using RRT*Smartlocal_path_planning.py
: to follow the path foundarm_kinematics.py
: forward and inverse kinematics equations needed to control the robot armtransformations.py
: contains functions to transform between global and robot coordinate frames
The following pre-requisites are required:
- Python >3.6, <3.10
- git
Then, the repository needs to be downloaded into a directory of choice:
git clone https://github.com/Capsar/2022_Q2_PDM-Project.git
Depending on the system that you are using follow the next steps.
- Install Microsoft Build Tools for version 14.0
- navigate to the folder in which you installed the repository:
cd PATH\TO\REPOSITORY
- Create new conda environment:
conda env create -f environment_win.yml
- Activate the new conda environment
conda activate PDM_group27
- Install newer version of
networkx
:conda install networkx==2.8.8
- navigate to the folder in which you installed the repository:
cd PATH/TO/REPOSITORY
- Create new conda environment:
conda env create --name PDM_group27 -f environment_linux.yaml
- Activate the new conda environment
conda activate PDM_group27
- Install newer version of
networkx
:conda install networkx==2.8.8
The manual installment of networkx
is required because urdfpy
has a restriction on the networkx
version. We are not aware of any complications using the newer version of networkx
in regards with urdfpy
.
If no errors have occurred, then the repository is correctly installed.
The simulation can by running python3 main.py
. Make sure you are within the "group27" folder, and that the PDM_group27
conda environment is activated.
Multiple simulation environments for the robot to navigate are provided. Options are:
1
: standard2
: second pre-made environment3
: third pre-made environment
Environmnets can be chosen by setting the --environment
argument. To run the simulation in environment 3, for example, run python3 main.py --environment=3
.
There is also an option to skip the navigation of the mobile base and to look only at the robot arm path-following. To do this, set the arm_only parameter as follows:
python3 main.py --arm_only