Motion planning in practice: An introduction to Kite Massimo Cefalo - - PowerPoint PPT Presentation

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Motion planning in practice: An introduction to Kite Massimo Cefalo - - PowerPoint PPT Presentation

Oct 15, 2023 187 likes •456 views

Outline Introduction to Kite Kite SDK The graphical user interface Example movies Kite: pros and cons A quick look at V-REP Autonomous and Mobile Robotics Prof. Giuseppe Oriolo Motion planning in practice: An introduction to Kite Massimo

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Outline Introduction to Kite Kite SDK The graphical user interface Example movies Kite: pros and cons A quick look at V-REP

Autonomous and Mobile Robotics

  • Prof. Giuseppe Oriolo

Motion planning in practice: An introduction to Kite

Massimo Cefalo

  • M. Cefalo

Motion planning with Kite AMR 2014-15 1 / 22

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Outline Introduction to Kite Kite SDK The graphical user interface Example movies Kite: pros and cons A quick look at V-REP

Outline

1

Introduction to Kite

2

Kite SDK

3

The graphical user interface

4

Example movies

5

Kite: pros and cons

6

A quick look at V-REP

  • M. Cefalo

Motion planning with Kite AMR 2014-15 2 / 22

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Outline Introduction to Kite Kite SDK The graphical user interface Example movies Kite: pros and cons A quick look at V-REP

Introduction to Kite

Kineo Kite, or simply Kite, is a commercial software for solving motion planning problems and implementing new planning algorithms based on software originally developed by Kineo CAM, a French company founded in 2000 by researchers of LAAS-CNRS Kineo CAM released KineoWorks, a platform for automatic motion planning and path planning in 2012 Kineo CAM was acquired by Siemens PLM Software, that currently sells Kineo Kite as an end-user application based on KineoWorks

  • M. Cefalo

Motion planning with Kite AMR 2014-15 3 / 22

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Outline Introduction to Kite Kite SDK The graphical user interface Example movies Kite: pros and cons A quick look at V-REP

Basic features

fully modular architecture (specialized modules are available for specific applications) cross-platform (Linux/Windows) static and interactive collision detections automated collision-free path computation, analyzer and editor includes many path planners path optimization 3D animation and movie generation (avi format)

  • M. Cefalo

Motion planning with Kite AMR 2014-15 4 / 22

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Outline Introduction to Kite Kite SDK The graphical user interface Example movies Kite: pros and cons A quick look at V-REP

Compatibility features

3D engine based on OpenGL 3D graphical path and kinematics editor VRML 2 importer XML Parser for saving and loading scenes in KXML format compatibility with other applications supported by optional modules: for instance, using CGR Data Importer it is possible to import CATIA

TM files (a CAD design and prototyping software used in many

industrial applications)

  • M. Cefalo

Motion planning with Kite AMR 2014-15 5 / 22

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Outline Introduction to Kite Kite SDK The graphical user interface Example movies Kite: pros and cons A quick look at V-REP

An example: automatic assembly and disassembly in production processes

  • M. Cefalo

Motion planning with Kite AMR 2014-15 6 / 22

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Outline Introduction to Kite Kite SDK The graphical user interface Example movies Kite: pros and cons A quick look at V-REP

Kineo Collision Detection module (KCD)

  • M. Cefalo

Motion planning with Kite AMR 2014-15 7 / 22

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Outline Introduction to Kite Kite SDK The graphical user interface Example movies Kite: pros and cons A quick look at V-REP

Advanced features

possibility to add new modules developing C++ libraries (addons) Python scripting for rapid prototyping and testing

  • ptional Kineo CAM addons provides further features

example: Kite Wrapping computes swept volumes of multiple objects along a path and exports volumes to VRML files

  • M. Cefalo

Motion planning with Kite AMR 2014-15 8 / 22

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Outline Introduction to Kite Kite SDK The graphical user interface Example movies Kite: pros and cons A quick look at V-REP

Kite for research

Kite is distributed under commercial license, but allows academic and no-profit organizations to do research through the Application Programming Interfaces (API) Kite and its APIs together are called Kite SDK

  • M. Cefalo

Motion planning with Kite AMR 2014-15 9 / 22

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Outline Introduction to Kite Kite SDK The graphical user interface Example movies Kite: pros and cons A quick look at V-REP

Kite SDK architecture (1/2)

Kite SDK is built on top of KCD (the Kineo Collision Detector) and KineoWorks (the Kineo path-planning library) Kite SDK uses a few design principles that make it quite scalable:

  • bject-oriented design

layered model-view-controller (MVC) architecture smart pointers for safe and easy memory management

the Kite SDK Graphical User Interface is built on top of WxWidgets, the cross-platform GUI library the 3D scene is realized in OpenGL

  • M. Cefalo

Motion planning with Kite AMR 2014-15 10 / 22

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Outline Introduction to Kite Kite SDK The graphical user interface Example movies Kite: pros and cons A quick look at V-REP

Kite SDK architecture (2/2)

The most important modules are: KineoWorks: the core Kineo path planning library KCD: the core Kineo collision detection library

  • M. Cefalo

Motion planning with Kite AMR 2014-15 11 / 22

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Outline Introduction to Kite Kite SDK The graphical user interface Example movies Kite: pros and cons A quick look at V-REP

The GUI: a brief description

  • M. Cefalo

Motion planning with Kite AMR 2014-15 12 / 22

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Outline Introduction to Kite Kite SDK The graphical user interface Example movies Kite: pros and cons A quick look at V-REP

The GUI: a brief description

  • M. Cefalo

Motion planning with Kite AMR 2014-15 12 / 22

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Outline Introduction to Kite Kite SDK The graphical user interface Example movies Kite: pros and cons A quick look at V-REP

The GUI: a brief description

  • M. Cefalo

Motion planning with Kite AMR 2014-15 12 / 22

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Outline Introduction to Kite Kite SDK The graphical user interface Example movies Kite: pros and cons A quick look at V-REP

The GUI: a brief description

  • M. Cefalo

Motion planning with Kite AMR 2014-15 12 / 22

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Outline Introduction to Kite Kite SDK The graphical user interface Example movies Kite: pros and cons A quick look at V-REP

The GUI: a brief description

  • M. Cefalo

Motion planning with Kite AMR 2014-15 12 / 22

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Outline Introduction to Kite Kite SDK The graphical user interface Example movies Kite: pros and cons A quick look at V-REP

Demo 1: motion planning considering moving obstacle

  • M. Cefalo

Motion planning with Kite AMR 2014-15 13 / 22

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Outline Introduction to Kite Kite SDK The graphical user interface Example movies Kite: pros and cons A quick look at V-REP

Demo 2: motion planning considering dynamics

  • M. Cefalo

Motion planning with Kite AMR 2014-15 14 / 22

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Outline Introduction to Kite Kite SDK The graphical user interface Example movies Kite: pros and cons A quick look at V-REP

Kite: pros and cons

+ Kite offers a powerful engine for 3D simulations + the default distribution provides several path planners + can be extended by developing new addons to add numerical solvers and path planners + it provides a very efficient collision detection library + it is robust and reliable

  • the documentation is in some point lacking
  • does not cover physics (hence no dynamics, but a new version which manages

sensors is being released)

  • does not include a numerical solver (but this is typical for kinematics-only

frameworks)

  • it is not open source: details on the implementation are not known
  • no modules to communicate with the physical world
  • in Windows, it requires Visual Studio 2005 for developing new addons
  • M. Cefalo

Motion planning with Kite AMR 2014-15 15 / 22

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Outline Introduction to Kite Kite SDK The graphical user interface Example movies Kite: pros and cons A quick look at V-REP

Some interesting free alternatives to Kite (1/2)

BioMove3D (from LAAS-CNRS; http://www.openrobots.org/wiki/move3d). The configuration space representation is the core feature of this library. It divides the world between movable articulated objects and static objects MPK: Motion Planning Kit (http://ai.stanford.edu/ mitul/mpk/). It is a C++ library and toolkit for developing single and multi robot motion planners Motion Strategy Library: a C++ library for motion planning free for both academic and commercial use (http://msl.cs.uiuc.edu/msl/) OMPL: the Open Motion Planning Library (http://www.kavrakilab.org/software). A C++ library for sampling-based motion planning. OMPL is also integrated in ROS and will be available as a ROS package

  • M. Cefalo

Motion planning with Kite AMR 2014-15 16 / 22

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Outline Introduction to Kite Kite SDK The graphical user interface Example movies Kite: pros and cons A quick look at V-REP

Some interesting free alternatives to Kite (2/2)

OOPSMP: an Object-Oriented Programming System for Motion Planning (http://www.kavrakilab.org/software). It is still available for download, but is no longer further developed Simox: a C++ toolbox containing three libraries for 3D simulation of robot systems, sampling based motion planning and grasp planning (http://simox.sourceforge.net/) OpenRave: provides an environment for testing, developing, and deploying motion planning algorithms in real-world robotics applications (http://openrave.programmingvision.com/) V-REP: free, open source and multi-platform; simulates physics and provides ROS connectivity (http://www.coppeliarobotics.com/)

  • M. Cefalo

Motion planning with Kite AMR 2014-15 17 / 22

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Outline Introduction to Kite Kite SDK The graphical user interface Example movies Kite: pros and cons A quick look at V-REP

V-REP, in particular...

V-REP is a robotic simulator: a software environment aimed at generic robotic

  • applications. With respect to Kite:

+ it is free and open source + it provides engines for dynamic/physics simulations + it allows the simulation of sensors + many robot models are available in the standard distribution + its functionalities can be extended using many programming languages (C/C++, Python, Java, Lua, MATLAB, Octave, Urbi) and programming approaches (remote clients, plugins, ROS nodes...)

  • its collision detection library is less efficient than KCD
  • does not provide tools for motion planning : it is a general purpose software

environment, not specifically oriented to motion planning V-REP promises to become a reference platform for prototyping and developing robotics applications.

  • M. Cefalo

Motion planning with Kite AMR 2014-15 18 / 22

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Outline Introduction to Kite Kite SDK The graphical user interface Example movies Kite: pros and cons A quick look at V-REP

Vrep official demo video 2014

  • M. Cefalo

Motion planning with Kite AMR 2014-15 19 / 22

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Outline Introduction to Kite Kite SDK The graphical user interface Example movies Kite: pros and cons A quick look at V-REP

Dynamic modeling in V-REP

Building a dynamic model in V-REP is very easy: no equations are needed It requires a few simple steps:

1 import a CAD model of the robot 2 associate to each body of the robot its dynamic parameters: mass, center of mass, inertia matrix

  • M. Cefalo

Motion planning with Kite AMR 2014-15 20 / 22

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Outline Introduction to Kite Kite SDK The graphical user interface Example movies Kite: pros and cons A quick look at V-REP

Dynamic modeling in V-REP

3 build a model tree: a tree that represents all hierarchical information

  • f the kinematic chains. It contains

bodies and joints

  • M. Cefalo

Motion planning with Kite AMR 2014-15 21 / 22

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Outline Introduction to Kite Kite SDK The graphical user interface Example movies Kite: pros and cons A quick look at V-REP

V-REP and MATLAB

  • M. Cefalo

Motion planning with Kite AMR 2014-15 22 / 22