pr2_table.world File Reference

Detailed Description

Video: smoothed trajectory

The PR2 robot by Willow Garage moving a box from underneath the table and leaving it on the table.

This is an example used in the TRO-13 paper.

The key data for this problem are:

Ambient space dimension 16
Configuration space dimension 4
Average planning time with bin/cuikatlasrrt (in seconds) 1

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 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 pr2_table.world.