Skip to content

Commit 0abb91d

Browse files
rickertmrickertm
committed
Add basic Comau RML Dual Arm scenario
1 parent 8d04ec7 commit 0abb91d

File tree

2 files changed

+122
-0
lines changed

2 files changed

+122
-0
lines changed

‎rlplan/comau-rml-dual-arm_prm.xml

Lines changed: 62 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,62 @@
1+
<?xml version="1.0" encoding="UTF-8"?>
2+
<rlplan xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="rlplan.xsd">
3+
<prm>
4+
<duration>1200</duration>
5+
<goal>
6+
<q unit="deg">0</q>
7+
<q unit="deg">-20</q>
8+
<q unit="deg">110</q>
9+
<q unit="deg">90</q>
10+
<q unit="deg">0</q>
11+
<q unit="deg">90</q>
12+
<q unit="deg">0</q>
13+
<q unit="deg">-20</q>
14+
<q unit="deg">90</q>
15+
<q unit="deg">80</q>
16+
<q unit="deg">0</q>
17+
<q unit="deg">90</q>
18+
<q unit="deg">0</q>
19+
</goal>
20+
<model>
21+
<kinematics href="../rlmdl/comau-rml-dual-arm.xml" type="mdl"/>
22+
<model>0</model>
23+
<scene href="../rlsg/comau-rml-dual-arm.convex/comau-rml-dual-arm-combined.xml"/>
24+
</model>
25+
<start>
26+
<q unit="deg">0</q>
27+
<q unit="deg">20</q>
28+
<q unit="deg">90</q>
29+
<q unit="deg">90</q>
30+
<q unit="deg">0</q>
31+
<q unit="deg">90</q>
32+
<q unit="deg">0</q>
33+
<q unit="deg">20</q>
34+
<q unit="deg">90</q>
35+
<q unit="deg">90</q>
36+
<q unit="deg">0</q>
37+
<q unit="deg">90</q>
38+
<q unit="deg">0</q>
39+
</start>
40+
<viewer>
41+
<delta unit="deg">1</delta>
42+
<model>
43+
<kinematics href="../rlmdl/comau-rml-dual-arm.xml" type="mdl"/>
44+
<model>0</model>
45+
<scene href="../rlsg/comau-rml-dual-arm/comau-rml-dual-arm-combined.xml"/>
46+
</model>
47+
<swept unit="deg">100</swept>
48+
</viewer>
49+
<kdtreeNearestNeighbors/>
50+
<uniformSampler/>
51+
<recursiveVerifier>
52+
<delta unit="deg">1</delta>
53+
</recursiveVerifier>
54+
</prm>
55+
<advancedOptimizer>
56+
<recursiveVerifier>
57+
<delta unit="deg">1</delta>
58+
</recursiveVerifier>
59+
<length unit="deg">15</length>
60+
<ratio>0.05</ratio>
61+
</advancedOptimizer>
62+
</rlplan>

‎rlplan/comau-rml-dual-arm_rrtConCon.xml

Lines changed: 60 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,60 @@
1+
<?xml version="1.0" encoding="UTF-8"?>
2+
<rlplan xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="rlplan.xsd">
3+
<rrtConCon>
4+
<duration>1200</duration>
5+
<goal>
6+
<q unit="deg">0</q>
7+
<q unit="deg">-20</q>
8+
<q unit="deg">110</q>
9+
<q unit="deg">90</q>
10+
<q unit="deg">0</q>
11+
<q unit="deg">90</q>
12+
<q unit="deg">0</q>
13+
<q unit="deg">-20</q>
14+
<q unit="deg">90</q>
15+
<q unit="deg">80</q>
16+
<q unit="deg">0</q>
17+
<q unit="deg">90</q>
18+
<q unit="deg">0</q>
19+
</goal>
20+
<model>
21+
<kinematics href="../rlmdl/comau-rml-dual-arm.xml" type="mdl"/>
22+
<model>0</model>
23+
<scene href="../rlsg/comau-rml-dual-arm.convex/comau-rml-dual-arm-combined.xml"/>
24+
</model>
25+
<start>
26+
<q unit="deg">0</q>
27+
<q unit="deg">20</q>
28+
<q unit="deg">90</q>
29+
<q unit="deg">90</q>
30+
<q unit="deg">0</q>
31+
<q unit="deg">90</q>
32+
<q unit="deg">0</q>
33+
<q unit="deg">20</q>
34+
<q unit="deg">90</q>
35+
<q unit="deg">90</q>
36+
<q unit="deg">0</q>
37+
<q unit="deg">90</q>
38+
<q unit="deg">0</q>
39+
</start>
40+
<viewer>
41+
<delta unit="deg">1</delta>
42+
<model>
43+
<kinematics href="../rlmdl/comau-rml-dual-arm.xml" type="mdl"/>
44+
<model>0</model>
45+
<scene href="../rlsg/comau-rml-dual-arm/comau-rml-dual-arm-combined.xml"/>
46+
</model>
47+
<swept unit="deg">100</swept>
48+
</viewer>
49+
<delta unit="deg">1</delta>
50+
<kdtreeNearestNeighbors/>
51+
<uniformSampler/>
52+
</rrtConCon>
53+
<advancedOptimizer>
54+
<recursiveVerifier>
55+
<delta unit="deg">1</delta>
56+
</recursiveVerifier>
57+
<length unit="deg">15</length>
58+
<ratio>0.05</ratio>
59+
</advancedOptimizer>
60+
</rlplan>

0 commit comments

Comments
 (0)