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cppflow repositoryrobotics motion-planning inverse-kinematics trajectory-optimization constrained-motion-planning |
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cppflow repositoryrobotics motion-planning inverse-kinematics trajectory-optimization constrained-motion-planning |
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cppflow repositoryrobotics motion-planning inverse-kinematics trajectory-optimization constrained-motion-planning |
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cppflow repositoryrobotics motion-planning inverse-kinematics trajectory-optimization constrained-motion-planning |
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cppflow repositoryrobotics motion-planning inverse-kinematics trajectory-optimization constrained-motion-planning cppflow |
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Repository Summary
| Description | Open source implementation of "CppFlow: Generative Inverse Kinematics for Efficient and Robust Cartesian Path Planning" (ICRA 2024) |
| Checkout URI | https://github.com/jstmn/cppflow.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-05-23 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | robotics motion-planning inverse-kinematics trajectory-optimization constrained-motion-planning |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| cppflow | 0.0.0 |
README
CppFlow
Cartesian path planning with IKFlow. Open source implementation to the paper “CppFlow: Generative Inverse Kinematics for Efficient and Robust Cartesian Path Planning”
Note: This project uses the w,x,y,z format for quaternions.
Installation
git clone https://github.com/jstmn/cppflow.git && cd cppflow
uv sync
uv pip install -e .
Getting started
Generate a plan for a single problem
# Problems:
# - fetch__circle
# - fetch__hello
# - fetch__rot_yz
# - fetch__s
# - fetch__square
# - fetch_arm__circle
# - fetch_arm__hello
# - fetch_arm__rot_yz
# - fetch_arm__s
# - fetch_arm__square
# - panda__flappy_bird
# - panda__2cubes
# - panda__1cube
# you can replace 'fetch__hello' with any of the problems listed above
uv run python scripts/evaluate.py --planner CppFlow --problem=fetch__hello --visualize
Recreate the results from the paper:
git checkout 2b6ad3097ad06af17e8d7eacdff78bbc98a1c3be
uv run python scripts/benchmark.py --planner_name=CppFlowPlanner
Citation
@INPROCEEDINGS{10611724,
author={Morgan, Jeremy and Millard, David and Sukhatme, Gaurav S.},
booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA)},
title={CppFlow: Generative Inverse Kinematics for Efficient and Robust Cartesian Path Planning},
year={2024},
volume={},
number={},
pages={12279-12785},
keywords={Adaptation models;Generative AI;Graphics processing units;Kinematics;Programming;Trajectory;Planning},
doi={10.1109/ICRA57147.2024.10611724}
}
CONTRIBUTING
No CONTRIBUTING.md found.
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cppflow repositoryrobotics motion-planning inverse-kinematics trajectory-optimization constrained-motion-planning |
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No version for distro noetic. Known supported distros are highlighted in the buttons above.
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cppflow repositoryrobotics motion-planning inverse-kinematics trajectory-optimization constrained-motion-planning |
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cppflow repositoryrobotics motion-planning inverse-kinematics trajectory-optimization constrained-motion-planning |
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cppflow repositoryrobotics motion-planning inverse-kinematics trajectory-optimization constrained-motion-planning |
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