tro2.world File Reference

Detailed Description

The DLR-II robot hand hoding a needle with 3 fingers.

This example was used for path planning in the TRO-13 paper.

The difference with respect tro.world is that the hand can rotate at the wrist (in tro.world the palm is fixed). Thus, here we have one degree of freedom more.

The key data for this problem are:

Ambient space dimension	23
Configuration space dimension	5
Average planning time with bin/cuikatlasrrt (in seconds)	7

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:
  • bin/cuikatlasrrt examples/RobotHand/tro2
• An alternative ways to plan existing in the literature:
  • bin/cuikcbirrt examples/RobotHand/tro2
  • bin/cuikccrrt examples/RobotHand/tro2
• Visualize the path: Whatever the procedure used to plan
  • scripts/cuikplayer examples/RobotHand/tro2 examples/RobotHand/tro2_path
• To smooth an output path:
  • bin/cuiksmoothpath examples/RobotHand/tro2
• Visualize the smoothed path:
  • scripts/cuikplayer examples/RobotHand/tro2 examples/RobotHand/tro2_path_s

Definition in file tro2.world.