You can see information about this code through this webcite.(We uploaded our paper and video.)
https://sglab.kaist.ac.kr/HarmoniousSampling/

1. Install the dependencies.

 MoveIt!, OpenRAVE, OMPL 

2. Setup your robot.

 roslaunch moveit_setup_assistant setup_assistant.launch 

For example, we make three groups.

• PLANNING_GROUP: base(3-DoF) + right_arm(7-DoF)
• BASE_GROUP: base(3-DoF)
• MANI_COLL_CHECK_GROUP: all links without rigth_arm(7-DoF). This is for collision checking to identify manipulation regions.
• If you don't use PR2 robot, you have to add your robot to OpenRAVE. Change the "robot.xml" file in the "script" folder.

3. Execute the code.

• Run the "move_group.launch" that is set up for your robot.
• Run the python file "possible_confs.py":

   python possible_confs.py 

  It needs a lot of time to construct the inverse kinematics and inverse reachability databases for your robot.
• Run the planning code.

   rosrun harmonious_sampling main 

  • You should change the "main.cpp" according to your settings. (e.g., bound setting, start configuration, target grasp pose ...)
  • You can change the scene. "Scene.cpp" is an example. So, you should change it.

4. You can change the parameters in the "HarmoniousParameters.cpp" file.