wafr.world File Reference

Detailed Description

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

This is one of the examples we used in our IJRR-12 paper where we introduce the bin/cuikatlasGBF planner.

This example is difficult when using REPRESENTATION = LINKS (the one used in the IJRR-12 paper) and an easy when using REPRESENTATION = JOINTS.

The key data for this problem are:

Ambient space dimension	157
Configuration space dimension	2
Average planning time with bin/cuikatlasGBF (in seconds)	70

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

• Solve the path planning problem
  • bin/cuikatlasGBF examples/RobotHand/wafr
• Visualize the solution path
  • scripts/cuikplayer examples/RobotHand/wafr examples/RobotHand/wafr_path

Definition in file wafr.world.