TwoArmsB.world File Reference

Detailed Description

A variant of TwoArmsA.world with an added obstacle.

This problem has the particularity that the two arms have to change their working modes along the solution paths. This implies to traverse a singularity which is a challenge for standard sampling-based planners. Note that the singularities in this case refer to the singularities of each one of the arms (singularities on the projection of the configuration space to the sub-space of the three variables of each arm), but not to configuration space singularities.

This example is treated following these steps (from the main CuikSuite folder):

  • Adjust the parameters: Different algorithms use different parameter settings. Just check the parameter file (TwoArmsB.param) and comment/uncomment the appropriate lines.
  • Solve the path planning problem: using the graph-based search
  • Solve the path planning problem: using a RRT-like algorithm
  • Visualize the solution path:
  • Smooth the path:
  • Visualize the smoothed solution path:

Definition in file TwoArmsB.world.