RT-COSMIK

Real-Time - Constrained and Open Source Multibodied Inverse Kinematics

RT-COSMIK is a cutting-edge open-source library for solving real-time constrained inverse kinematics problems for multibody systems. It is designed for robotics applications, offering robust integration with ROS and advanced features like real-time pipelines, MMpose, and LSTM-based motion prediction.

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Getting Started

This repository is designed to work with a pre-configured Docker environment to ensure compatibility and ease of use. Please follow the installation instructions in the Gepetto Dev Container repository.

Clone the Repo Inside the Docker Container

Once the Docker environment is set up, clone this repository into the appropriate directory:

cd workspace/ros_ws/src
git clone https://gitlab.laas.fr/msabbah/rt-cosmik.git

Build RT-COSMIK with catkin build

cd workspace/ros_ws/src
catkin build rt-cosmik

Test and Deploy

All the usable code can be found in apps folder for running the pipelines and on cams_calibration for cameras calibration

For ros visualisation in rviz do the following command :

roslaunch rt-cosmik start_viz.launch

Authors and acknowledgment

• Maxime Sabbah (LAAS-CNRS): Main developer and maintainer of the project, real-time pipeline, inverse kinematics, and general implementation of the library.
• Kahina Chalabi (LAAS-CNRS): Main developer and maintainer of the project, MMpose, and LSTM.
• Mohamed Adjel (LAAS-CNRS): Main developer, human modeling, and camera feeds handling.
• Thomas Bousquet (LAAS-CNRS): Features developer.
• Vincent Bonnet (LAAS-CNRS / IPAL): Project instructor.

Citing RT-COSMIK

License

BSD 2-Clause License

Copyright (c) 2024, LAAS-CNRS All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.

2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Project Status

RT-COSMIK is currently under active development. Contributions and feedback are welcome. For any inquiries or support, feel free to contact the maintainer:
Maxime Sabbah - [email protected]