ras.world File Reference

Detailed Description

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

This example was used for path planning in the RAS paper. This is basically an adaptation of tro2.world but simplifying it so that it can be tackled with the RRT* in reasonable time.

This example was used in our RAS-13 paper (submitted).

The key data for this problem are:

Ambient space dimension	23
Configuration space dimension	5
Planning time (in seconds) for 10000 iterations of bin/cuikatlasrrtstar	800

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

• Approximate the optimal path: Ensure that the parameters BI_RRT and RRT_GRAPH are both set to TRUE and execute
  • bin/cuikatlasrrtstar examples/RobotHand/ras
• Visualize the near-optimal path:
  • scripts/cuikplayer examples/RobotHand/ras examples/RobotHand/ras_path

Definition in file ras.world.