This is the final project of the CMU-16782. It has the implementation of basic forward/inverse kinematics, and the sampling_based path planning with constraints for the Franka Robot Arm.

For Ubuntu 16.04:

1. Install ROS Kinetic on your computer following instructions here: [http://wiki.ros.org/ kinetic/Installation/Ubuntu.](http://wiki.ros.org/ kinetic/Installation/Ubuntu. ) (Make sure to install the Desktop-Full Install version of ROS Kinetic.)

2. Install libfranka and franka_ros using the following command:

   sudo apt install ros-kinetic-libfranka ros-kinetic-franka-ros

3. Install all requirements.

   pip install -r requirements.txt

4. Change the path argument in visualize.launch to the path to your working folder.

5. Run the RRT planner:

   python3 plan.py --rrt or python3 plan.py --rrt --map2 for using the second map， or python3 plan.py --rrt --map3 for using the third map.

   Run the CBIRRT planner:

   python3 plan.py --rrtc or python3 plan.py --rrtc --map2 for using the second map, or python3 plan.py --rrtc --map3 for using the third map.

   Run the PRM planner:

   python3 plan.py --prm or python3 plan.py --prm --map2 for using the second map, or python3 plan.py --prm --map3 for using the third map.

   If reusing the graph created before:

   python3 plan.py --prm [--map2/map3]--reuse_graph

   Run the OBPRM planner:

   python3 plan.py --obprm or python3 plan.py --obprm --map2 for using the second map, or python3 plan.py --obprm --map3 for using the third map.

   If reusing the graph created before:

   python3 plan.py --obprm [--map2/map3]--reuse_graph

We designed three problems for the robot arm, in which it needs to move from a start position to agiven goal position while avoiding obstacles.

Scene 1:

Scene 2:

Scene 3:

Watch the video