baxter_box.world File Reference

Detailed Description

We take the Baxter file imported from the URDF and set up a planning task were the robot has to take a green box with the two arms and put in in a larger brown box that is on a table. The green box is moved using the two arms, which defines a kinematic loop (i.e., an implicitly defined configuration space).

This planning problem can be solved executing

• bin/cuikatlasrrt examples/Baxter/baxter_box

and the resulting path can be visualised executing

• scripts/cuikplayer examples/Baxter/baxter_box examples/Baxter/baxter_box_path

The raw path is typically yerked. This can be solved executing

• bin/cuiksmoothpath examples/Baxter/baxter_box

and the smoothed path can be visualized executing

• scripts/cuikplay examples/Baxter/baxter_box examples/Baxter/baxter_box_path_s

Note the screen is not part of the kinematic loop and, thus this is an example of how we can plan with hybrid systems (systems with kinmeatically-constrained and unconstrained degrees of freedom).

Definition in file baxter_box.world.