TwoArmsB.world File Reference Detailed DescriptionA 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):
Definition in file TwoArmsB.world. |
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