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sbpl_arm_planner/Reviews

Package proposal

This package provides a robotic arm planner based on the SBPL. This documentation is very temporary and obviously far from complete.

Also, a lot of the options are antiquated and not all that useful anymore. Everything will be cleaned up in the near future.

These are parameters that can be changed by SetEnvParameter():

Parameter

Value

paddingSize

obstacle padding size in meters (default: .06)

usePathSmoothing

1: use path smoothing 0:don't use path smoothing (slightly faster)

smoothingWeight

weight applied to smoothing cost function (default: .00025)

useDHforFK

1: Use DH convention for FK 0: Use KDL Chain for FK (haven't tested it recently)

useDijkstraHeuristic

1: Use Dijkstra for Heuristic 0: Use Euclidean Distance for Heuristic

useHigherCostsNearObstacles

1: higher cell costs near obstacles (forces the paths further away from obstacles) 0: binary environment map

goalPosMOE

margin of error allowed for goal location (default: 2 cm)

use6DOFGoal

1: plans to 6 DoF goal 0: plans to 3 DoF goal (x,y,z)

useMultiResActions

1: enable multi-resolution successor actions near goal 0: disable multi-resolution actions

useFastCollisionChecking

1: enable low resolution collision checking (much faster) 0: do collision checking on full resolution map

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2022-05-28 13:01