pr2_fridge.world File Reference

Detailed Description

Video

The PR2 robot by Willow Garage opening a fridge.

The key data for this problem are:

Ambient space dimension	10
Configuration space dimension	4
Average planning time with bin/cuikatlasrrt (in seconds)	0.02

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/PR2/pr2_fridge
• An alternative ways to plan existing in the literature:
  • bin/cuikcbirrt examples/PR2/pr2_fridge
  • bin/cuikccrrt examples/PR2/pr2_fridge
• Visualize the path: Whatever the procedure used to plan
  • scripts/cuikplayer examples/PR2/pr2_fridge examples/PR2/pr2_fridge_path

Definition in file pr2_fridge.world.