03-25-2019, 12:26 PM
嗨,艾伯特
I thought about the PRM Algorithm and came up with some ideas concerning the CollisionFreePlanner Plugin.
Commands:
-The already mentioned: Update calculation command
-Set number of samples (verteces), set edges per sample (neighborhood size), set robot step...all to reduce calculation time in Python
-RDK.PluginCommand: Return Path-Targets as list to directly use them to assemble a bigger pathàthe created programs are maybe only used once, then they have to be deleted (lot size 1 path)
-Making sure RoboDK is not updating the PRM Signal (safe to import CAD-Files)
-setTimeoutTime (if no solution can be found in a useful time frame)… (closed Algorithm needs a big sampling size of Space C)
Maybe some of the mentioned commands are not necessary anymore, when others are implemented.
I attached a file. In the “Tisch_Test” python script I tried to experiment with the simulation speed and the collisionactive Signal. I experienced that the collisions might not be detected when increasing the simulation speed. Maybe I did something wrong. Otherwise I am not quite sure what I can achieve by increasing the simulation speed? Furthermore, I cannot run my test program with the RoboDK-Allow-CollisionFreePlanner.bat, when I delete the Kollisionsgeometrie1&2. This is what I meant with the AddFile issue. If there is any way for me to contribute to this Plugin, then I would be happy to help as I am basically working for free because of my Project assignment. Hopefully you can reproduce my findings and if you have any questions do not hesitate to contact me.
Have a nice day!
Robin
I thought about the PRM Algorithm and came up with some ideas concerning the CollisionFreePlanner Plugin.
Commands:
-The already mentioned: Update calculation command
-Set number of samples (verteces), set edges per sample (neighborhood size), set robot step...all to reduce calculation time in Python
-RDK.PluginCommand: Return Path-Targets as list to directly use them to assemble a bigger pathàthe created programs are maybe only used once, then they have to be deleted (lot size 1 path)
-Making sure RoboDK is not updating the PRM Signal (safe to import CAD-Files)
-setTimeoutTime (if no solution can be found in a useful time frame)… (closed Algorithm needs a big sampling size of Space C)
Maybe some of the mentioned commands are not necessary anymore, when others are implemented.
I attached a file. In the “Tisch_Test” python script I tried to experiment with the simulation speed and the collisionactive Signal. I experienced that the collisions might not be detected when increasing the simulation speed. Maybe I did something wrong. Otherwise I am not quite sure what I can achieve by increasing the simulation speed? Furthermore, I cannot run my test program with the RoboDK-Allow-CollisionFreePlanner.bat, when I delete the Kollisionsgeometrie1&2. This is what I meant with the AddFile issue. If there is any way for me to contribute to this Plugin, then I would be happy to help as I am basically working for free because of my Project assignment. Hopefully you can reproduce my findings and if you have any questions do not hesitate to contact me.
Have a nice day!
Robin