BarretArm-Maze-FixRot.world File Reference

Detailed Description

The Barret arm holding a stick to solve a maze problem with the orientation of the end effector fixed.

This examples is used in the TRO paper.

The key data for this problem is:

Ambient space dimension 9
Configuration space dimension 3
Average planning time with bin/cuikatlasrrt (in seconds) 2.5

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

  • Solve the path planning problem Execute
  • An alternative way to plan: Note that different path planning algorithms use different parameter setting. Just uncomment the right lines in the parameter file. In particular, deactivate the bifurcation detection (set DETECT_BIFURCATIONS to 0 in the parameter file) and execute:
  • An alternative ways to plan existing in the literature:
  • Visualize the path: Whatever the procedure used to plan
    • scripts/cuikplayer examples/Barret/BarretArm-Maze-FixRot examples/Barret/BarretArm-Maze-FixRot_path
  • To smooth an output path:
  • Visualize the smoothed path:
    • scripts/cuikplayer examples/Barret/BarretArm-Maze-FixRot examples/Barret/BarretArm-Maze-FixRot_spath

Definition in file BarretArm-Maze-FixRot.world.