1. Aimée Vargas, Jyh-Ming Lien, Marco Morales and Nancy M. Amato Algorithms & Applications Group Parasol Lab, Dept. of Computer Science, Texas A&M University VIZMO++ A Visualization, Authoring, and Educational Tool for Motion Planning

2. Motion Planning consists of finding feasible motions for movable objects Many applications: robotics, computer graphics, scientific computing, … Input −Data describing the robot’s shape, articulations, constraints −Data describing the shape and configuration of obstacles −The robot’s start and goal configurations Planning Algorithm (e.g., sampling-based motion planning) −Samples configurations randomly in the Configuration Space (C-Space) −Connects each sample to one or multiple near-by samples Output −A graph describing the feasible motions −A sequence of configurations that take the robot from the start to the goal Algorithmic Motion Planning workspace

3. Algorithmic Motion Planning: Input 4 MultiBody Active 1 FreeBody 0 small_robot.g 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 Connection 0 MultiBody Pasive 1 FixedBody 0 tunnel.g 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 Connection 0 MultiBody Pasive 1 FixedBody 0 block.g 16.000000 13.000000 0.000000 0.000000 0.000000 0.000000 Connection 0 MultiBody Pasive 1 FixedBody 0 block.g -16.000000 13.000000 0.000000 0.000000 0.000000 0.000000 Connection 0 1 36 76 228 1 76 -12.500000 -2.500000 2.500000 -9.500000 -2.500000 2.500000 -9.500000 -2.500000 -2.500000 -12.500000 -2.500000 -2.500000 -12.500000 2.897685 2.500000 -9.500000 2.897685 2.500000 -12.500000 2.897685 -2.500000 -9.500000 2.897685 -2.500000 -4.500000 -2.500000 2.500000 -4.500000 -2.500000 -2.500000 -4.500000 12.500000 2.500000 -9.500000 12.500000 2.500000 -9.500000 12.500000 -2.500000 -4.500000 12.500000 -2.500000 -12.500000 -12.500000 12.500000 12.500000 -12.500000 12.500000 12.500000 12.500000 12.500000 -12.500000 12.500000 12.500000 12.500000 12.500000 -12.500000 -12.500000 12.500000 -12.500000 9.500000 12.500000 2.500000 4.500000 12.500000 2.500000 4.500000 12.500000 -2.500000 9.500000 12.500000 -2.500000 12.500000 -12.500000 -12.500000 -12.500000 -12.500000 -12.500000 12.500000 -2.500000 -2.500000 12.500000 -2.500000 2.500000 12.500000 2.897685 2.500000 12.500000 2.897685 -2.500000 9.500000 2.897685 2.500000 9.500000 2.897685 -2.500000 9.500000 -2.500000 2.500000 9.500000 -2.500000 -2.500000 4.500000 -2.500000 2.500000 4.500000 -2.500000 -2.500000 1 2 -4 2 3 -4 5 6 -1 6 2 -1 7 8 -5 … Workspace file 1 8 12 36 1 12 0.95 0.95 0.95 0.95 0.95 -0.95 0.95 -0.95 0.95 0.95 -0.95 -0.95 -0.95 0.95 0.95 -0.95 0.95 -0.95 -0.95 -0.95 0.95 -0.95 -0.95 -0.95 1 5 -7 1 7 -3 1 2 -6 1 6 -5 1 3 -4 1 4 -2 5 6 -8 5 8 -7 2 4 -8 2 8 -6 3 7 -8 3 8 -4 robot obstacle Geometry files

4. Algorithmic Motion Planning: Output Roadmap Version Number 061300 #####PREAMBLESTART#####../obprm -cd RAPID -f serial -bbox [0.0,4.0,0.0,4.0,-5.0,14.0] -bbox_scale 1 -lp straightline rotate_at_s -gNodes OBPRM nodes 400 collPair rT rT shells 1 freePair rT rT -cNodes closest 20 components 5 5 #####PREAMBLESTOP##### #####ENVFILESTART##### serial.env #####ENVFILESTOP##### #####LPSTART##### straightline rotate_at_s 0.5 a_star_distance 6 9 #####LPSTOP##### #####CDSTART##### 3 vclip RAPID PQP #####CDSTOP##### #####DMSTART##### 5 scaledEuclidean 0.9 euclidean minkowski 3 3 0.3333 manhattan com #####DMSTOP##### #####GRAPHSTART##### 89 78 89 0 1.95659 2.51507 -4.62012 0.763875 0.92729 0.307945 0.984243 0.0868963 0.304818 1 -1 -1 2 4 1 122 3 126 1 2.87237 0.864196 -4.5569 0.675137 0.382797 0.266389 0.581803 0.195711 0.873085 1 -1 -1 1 8 1 133 2 2.9388 3.5578 -4.30382 0.115513 0.0309897 0.993182 0.688779 0.297365 0.0481244 1 -1 -1 1 12 1 223 3 3.00148 0.25514 -4.59405 0.0368278 0.900472 0.244192 0.909281 0.937958 0.433103 1 -1 -1 1 0 1 126 4 3.00187 0.345139 -4.55145 0.374121 0.167178 0.795772 0.606054 0.804405 0.825447 1 -1 -1 2 7 1 32 0 1 122 5 0.940853 0.879135 -4.65633 0.334515 0.538076 0.575211 0.163215 0.918796 0.106324 1 -1 -1 2 9 1 230 14 1 260 6 1.4835 3.37686 -4.45324 0.161255 0.324899 0.0697619 0.261815 0.247689 0.382626 1 -1 -1 1 24 1 227 7 2.82442 0.927611 -4.5542 0.226048 0.822072 0.33608 0.898007 0.667324 0.289052 1 -1 -1 3 4 1 32 9 1 219 24 1 251 8 0.34911 1.50508 -4.16536 0.994804 0.295583 0.435455 0.627437 0.361991 0.973598 1 -1 -1 4 1 1 133 13 1 202 24 1 202 23 1 237 9 2.20836 0.059729 -0.339691 0.215222 0.247623 0.330884 0.157593 0.796295 0.400327 2 -1 -1 2 7 1 219 5 1 230...... #####GRAPHSTOP##### VIZMO_PATH_FILE Path Version 20001125 1 1443 20.000000 0.000000 0.000000 0.000000 0.000000 0.000000 19.910263 0.013349 0.017175 0.994866 0.992220 0.996640 19.820526 0.026698 0.034349 0.989732 0.984439 0.993280 19.730789 0.040048 0.051524 0.984598 0.976659 0.989919 19.641052 0.053397 0.068699 0.979464 0.968878 0.986559 19.551315 0.066746 0.085873 0.974331 0.961098 0.983199 19.461578 0.080095 0.103048 0.969197 0.953318 0.979839 19.371841 0.093445 0.120222 0.964063 0.945537 0.976478 19.282104 0.106794 0.137397 0.958929 0.937757 0.973118 19.192367 0.120143 0.154572 0.953795 0.929976 0.969758 19.102630 0.133492 0.171746 0.948661 0.922196 0.966398 19.012893 0.146842 0.188921 0.943527 0.914416 0.963038 18.923157 0.160191 0.206096 0.938393 0.906635 0.959677 18.833420 0.173540 0.223270 0.933259 0.898855 0.956317 18.743683 0.186889 0.240445 0.928126 0.891075 0.952957 18.653946 0.200239 0.257619 0.922992 0.883294 0.949597 18.564209 0.213588 0.274794 0.917858 0.875514 0.946237 18.474472 0.226937 0.291969 0.912724 0.867733 0.942876 18.384735 0.240286 0.309143 0.907590 0.859953 0.939516 18.294998 0.253636 0.326318 0.902456 0.852173 0.936156 18.205261 0.266985 0.343493 0.897322 0.844392 0.932796 18.115524 0.280334 0.360667 0.892188 0.836612 0.929435 18.025787 0.293683 0.377842 0.887054 0.828831 0.926075 17.936050 0.307033 0.395017 0.881920 0.821051 0.922715 17.846313 0.320382 0.412191 0.876787 0.813271 0.919355 … Path file Roadmap (graph) file

5. Motivation l Meaningful visualizations and interfaces to –Illustrate l Problems l Solutions –Help in the development and testing of motion planners –Create and modify problem instances –Try queries l Teaching aid –Illustrate how planners model motions in complex problems –Illustrate the many abstractions involved in motion planning –Allow to deal with interesting environments that otherwise may be impossible to access –Illustrate differences and similarities between motion planners –Interactive learning – Degrees of Freedom – Configuration – Configuration Space – N-dimensional Space – Graph, Tree – Connected Component – Medial Axis – Distance Metrics – …

6. VIZMO++ The major components include: l A user friendly interface –C++, OpenGL and Qt 4 l Visualization of the workspace/scene l Visualization of results generated by motion planners l Editor for the workspace/scene l Editor for roadmaps

7. VIZMO++ The major components include: l A user friendly interface l Visualization of the workspace/scene –Wired/solid modes –Change colors l Visualization of results generated by motion planners l Editor for the workspace/scene l Editor for roadmaps

8. VIZMO++ The major components include: l A user friendly interface l Visualization of the workspace/scene l Visualization of results generated by motion planners –path sweep volume –path animation l Editor for the workspace/scene l Editor for roadmaps

9. VIZMO++ The major components include: l A user friendly interface l Visualization of the workspace/scene l Visualization of results generated by motion planners –debugging –compare different methods l Editor for the workspace/scene l Editor for roadmaps

10. VIZMO++ The major components include: l A user friendly interface l Visualization of the workspace/scene l Visualization of results generated by motion planners l Editor for the workspace/scene –select/translate/rotate/scale –inset/delete objects –check for collision l Editor for roadmaps

11. VIZMO++ The major components include: l A user friendly interface l Visualization of the workspace/scene l Visualization of results generated by motion planners l Editor for the workspace/scene l Editor for roadmaps –modify –add –delete

12. Demo

13. Conclusion l VIZMO++ is a 3D tool for visualizing and editing motion planning –Environments and Problem Instances –Solutions l Future work includes –allow users to construct articulated robots –support multiple robots –support Constructive Solid Geometry (CSG) –Configuration-space visualization (2D-3D projections) –release the code

14. Aimée Vargas, Jyh-Ming Lien, Marco Morales and Nancy M. Amato Algorithms & Applications Group Parasol Lab, Dept. of Computer Science, Texas A&M University VIZMO++ http://parasol.tamu.edu/groups/amatogroup/research/vizmo++/ http://parasol.tamu.edu/groups/amatogroup/research/vizmo++/