The Kautham Project

A robot simulation toolkit for motion planning

  1. Abstract
  2. Features
  3. Snapshots
  4. Input Files
  5. Videos
  6. Tutorials
  7. Documentation
  8. Contributors





Download: github.com/iocroblab/kautham (Version 3.1.1 available from April 5, 2017)

Install instructions: Debian Ubuntu

Abstract

The Kautham Project is a software tool used at the Institute of Industrial and Control Engineering (IOC-UPC) for teaching and research in robot motion planning. The tool allows to cope with problems with one or more robots, being a generic robot defined as a kinematic tree with a mobile base. i.e. the tool can plan and simulate from simple two degrees of freedom free-flying robots to multi-robot scenarios with mobile manipulators equipped with anthropomorphic hands. The main core of planners is provided by the Open Motion Planning Library (OMPL). Different basic planners can be flexibly used and parameterized, allowing students to gain insight into the different planning algorithms. Among the advanced features the tool allows to easily define the coupling between degrees of freedom, the dynamic simulation and the integration with task planers. It is principally being used in the research of motion planning strategies for hand-arm robotic systems.

Features

  1. Uses OMPL suite of planners (geometric and control based)
  2. Uses PQP collision detection library
  3. Uses Coin3D for visualization
  4. Uses ODE physics engine
  5. Robot models are defined using urdf or DH parameters coded in an XML file
  6. Describes robots as kinematic trees with a mobile base (SE3xRn configuration space)
  7. Geometry is described in VRML files
  8. Allows multi-robot systems
  9. Allows the coupling of degrees of freedom
  10. Can be encapsuled as a ROS node

Snapshots


Narrow Passage
HF planner
Narrow Passage
PRM planner
L-Hole 6dof
RRT planner
Four 2D robots
RRT Star
</td>
Many do.o.f. problems
Visual and collision models

Input files:
Problem definition OMPL_RRTConnect_Staubli_R6_mobileBase_two_columns.xml
Robot file (dh) UR5.dh
Robot file (urdf) allegro_hand_description_right.urdf
Robot control file TX90_mobile.cntr
Robot control file with coupled d.o.f. TX90_6dof_RHand_5PMD.cntr
Obstacle file (static) shelf.wrl
Obstacle file with dynamic data columns.urdf
Obstacle file (a robot) TX90.dh


Videos of research done using The Kautham Project

www.ioc.upc.edu/personal/jan.rosell/videos
Ontological Manipulation Planning (ETFA 2015)
Combining task and motion planning using GraphPlan (ETFA 2015)
Task and motion planning (RSS 2016)
k-PMP: Enhancing Physics-based Motion Planners with Knowledge-based Reasoning (mobile robots)
k-PMP: Enhancing Physics-based Motion Planners with Knowledge-based Reasoning (manipulator)
Physics-based Motion Planning with Temporal Logic Specifications (IFAC World Congress 2017)
Knowledge-oriented Task and Motion Planning for Multiple Mobile Robots
Knowledge-oriented Physics-based Motion Planning for Grasping in the Presence of Uncertainty: Real execution (RAL-1)
Knowledge-oriented Physics-based Motion Planning for Grasping in the Presence of Uncertainty: Simulation (RAL-2)
Knowledge-oriented Physics-based Motion Planning for Grasping in the Presence of Uncertainty: Comparison (RAL-3)
Randomized Physics-based Motion Planning for Grasping in Cluttered and Uncertain Environments - RAL2017-1
Randomized Physics-based Motion Planning for Grasping in Cluttered and Uncertain Environments - RAL2017-2
Randomized Physics-based Motion Planning for Grasping in Cluttered and Uncertain Environments - RAL2017-3
Randomized Physics-based Motion Planning for Grasping in Cluttered and Uncertain Environments - RAL2017-4
Randomized Physics-based Motion Planning for Grasping in Cluttered and Uncertain Environments - RAL2017-5
Task and Motion Planning: Reachability Problem
Task and Motion Planning: Goal Ordering Problem

Tutorials (still under construction, sorry!)

  1. Tutorial 1
  2. Tutorial 2
  3. Tutorial 3
  4. Tutorial 4

Documentation

class documentation
slides THE KAUTHAM PROJECT
slides OMPL-KAUTHAM integration.pdf

Contributors

Alexander Perez1,2
Jan Rosell1 - jan.rosell@upc.edu
Nestor Garcia Hidalgo1
Leopold Palomo1
Muhayyuddin1
Aliakbar Akbari1
Joan Fontanals1
Andres F. Montano1
Carlos Rodriguez1
1 2