TwoArms Directory Reference

Detailed Description

Two planar robot arms cooperatively to move an object among obstacles

This example was provided by Juan Cortés.

We used this example in our IROS-07 paper to evaluate our first path planner for systems with kinematic constraints. Note that this planer is not included in the CuikSuite since our recent developments clearly improved this planner.

The two instances of this problem in this folder are only different on the set of obstacles surrounding the robots.

The key data for this problem are:

Ambient space dimension	6
Configuration space dimension	3
Average planning time (for TwoArmsA.world) with bin/cuikatlasrrt (in seconds)	0.3
Average planning time (for TwoArmsB.world) with bin/cuikatlasrrt (in seconds)	0.5

Please, check each individual file for details on how to process them

• TwoArmsA.world A case with only the obstacles around the start and goal configurations.
• TwoArmsB.world A case with additional obstacles.

Files
file	TwoArmsA.world [code]
	Two plannar hands cooperating to move and object.
file	TwoArmsB.world [code]
	Two plannar hands cooperating to move and object.