pr2_pitcher3.world File Reference

Detailed Description

Video: planned trajectoryVideo: smoothed trajectory

The PR2 robot by Willow Garage putting a sangria pitcher in a fridge.

The difference with respect to pr2_pitcher.world is that here the orientation of the pitcher is fixed, but the gripper in the door can rotate (about the door handle). Thus the two examples have the same number of degrees of freedom.

This is an example used in the TRO-13 paper.

The key data for this problem are:

Ambient space dimension	20
Configuration space dimension	8
Average planning time with bin/cuikatlasrrt (in seconds)	2

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

• Solve the path planning problem
  • bin/cuikatlasrrt examples/PR2/pr2_pitcher3
• An alternative ways to plan existing in the literature:
  • bin/cuikcbirrt examples/PR2/pr2_pitcher3
  • bin/cuikccrrt examples/PR2/pr2_pitcher3
• Visualize the path:
  • scripts/cuikplayer examples/PR2/pr2_pitcher3 examples/PR2/pr2_pitcher3_path
• Smooth the path:
  • bin/cuiksmoothpath examples/PR2/pr2_pitcher3
• Visualize the path:
  • scripts/cuikplayer examples/PR2/pr2_pitcher3 examples/PR2/pr2_pitcher3_path_s

Definition in file pr2_pitcher3.world.