Path Planning

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francescodelduchetto edited this page Mar 27, 2025 · 5 revisions

Task 1 - cartesian path

In this task, you will implement a very simple path planning algorithm for a set of target Cartesian coordinates.

▶️ 🧑‍💻 Open the script week8/trajectory_planning.py and go to the function plan_cartesian_trajectory(self) which contains a template for solving the task.
▶️ 🧑‍💻 Complete the missing parts of the code. NOTE 1: the functionalities for plotting your path are already implemented. NOTE 2: you can use the function compute_ik(target_P, target_R, elbow_up) from inverse_kinematics_analytic.py in order to compute the joint positions.

Task 2 - joint path

In this task you will implement a very simple path planning algorithm for a set of target joint coordinates.

▶️ 🧑‍💻 Similarly as before, open the script week8/trajectory_planning.py and go to the function plan_joint_trajectory(self) which contains a template for solving the task.
▶️ 🧑‍💻 Complete the missing parts of the code. NOTE 1: the functionalities for plotting your path are already implemented. NOTE 2: you can use the function compute_dk(q1,q2,q3,q4,q5,q6) from direct_kinematics.py in order to compute the end effector position.

Credits

Parts for the workshops are extracted, edited from and/or inspired by the following sources.

Official ROS humble tutorials: https://docs.ros.org/en/humble/Tutorials.html
Elephant Robotics docs: https://docs.elephantrobotics.com/docs/gitbook-en/