tro.world File Reference

Detailed Description

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

This example was used for path planning.

The difference with respect wafr.world are the obstacles: here we have two small dead-ends that introduces local minima in the planning.

The key data for this problem are:

Ambient space dimension 22
Configuration space dimension 4
Average planning time with bin/cuikatlasrrt (in seconds) 10

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 way to plan: Note that different path planning algorithms use different parameter settins. Just uncomment the right lines in the parameter file.
  • 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 tro.world.