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 |
Package review meeting notes
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