reem_glass.world File Reference

Detailed Description

The REEM robot by PAL robotics. This is only the basic robot without any loop closure.

IMPORTANT: For this test we assume the robot to be holonomic.

In this case the REEM aproaches a table and puts the hand close to a glass. This pose is adequate for grasping the glass.

This is a problem in open loop (i.e., without any loop closure condition). This is the kind of problems typically addressed by existing planners. Since no loop constraint is used, the dimensionality of the problem is considerably large (12).

This example is used to show that, with the appropriate setting of parameteres, the tools provided in the CuikSuite can also be used for non-constrained problem. Note, however, that a planner specific for the non-constrained case can be more efficient since it would avoid the overhead of using charts to sample an Euclidean space. We tried to minimize this overhead, but it is instrinsic to the design of the tools in the CuikSuite and so, it is not compleately skipped.

The key data for this problem are:

Ambient space dimension 12
Configuration space dimension 12
Average planning time with bin/cuikatlasrrt (in seconds) 0.1

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

  • Solve the path planning problem For this, deactivate the bifurcation detection (set DETECT_BIFURCATIONS to 0) and execute:
  • An alternative ways to plan existing in the literature:
  • Visualize the path: Whatever the procedure used to plan
  • To smooth an output path:
  • Visualize the smoothed path:

Definition in file reem_glass.world.