reem_table.world File Reference

Detailed Description

The REEM robot by PAL robotics.

In this case the REEM performs a manipulation task with the two arms consisting in moving a box from underneath a table and to to put it on the table. This is the same task modelled with the PR2 robot in the pr2_table.world file.

Note that this is a problem in dimension 9, which is considerbly large taking into account the presence of the loop clousures.

The key data for this problem are:

Ambient space dimension	21
Configuration space dimension	9
Average planning time with bin/cuikatlasrrt (in seconds)	5

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/REEM/reem_table
• An alternative ways to plan existing in the literature:
  • bin/cuikcbirrt examples/REEM/reem_table
  • bin/cuikccrrt examples/REEM/reem_table
• Visualize the path: Whatever the procedure used to plan
  • scripts/cuikplayer examples/REEM/reem_table examples/REEM/reem_table_path
• To smooth an output path:
  • bin/cuiksmoothpath examples/REEM/reem_table
• Visualize the smoothed path:
  • scripts/cuikplayer examples/REEM/reem_table examples/REEM/reem_table_spath

Definition in file reem_table.world.