07-25-2019, 01:08 PM
Hy again
Since the latest update of RoboDK 3.8.4 the issue I described on May 10'th seems to be solved. However, I noticed that the PRM Algorithm creates a valid PRG despite having collisions (in between the samples) in it. After running "status = RDK.PluginCommand("CollisionFreePlanner", "Join", "Target 1|Target 2|ProgSample")" I can easily check if the path has collisions by using the code below. However, the PRM does not offer any alternative Paths after it found a "valid" solution. My suggestion would be to take the code below into the PRM algorithm evaluation so the search for a collision free path can continue if a collision is detected. Otherwise the whole map becomes useless, because the only way to find another path, as far as I can see, is to refresh the collision map.
Simulation speed: I already simplified most collision geometries in the station. However the calculation time of the map takes quite a while. Are there any new addons that make better use of the grapics card? My graphics card usage is always below 5 percent (with or without the option “GPU Array usage”). Also my processor seems to be running at 50 % usage without turbo-boosting up. Any hints are appreciated.
If you have any questions to elaborate on one of my descriptions, I will be happy to.
Regards, Robin
Since the latest update of RoboDK 3.8.4 the issue I described on May 10'th seems to be solved. However, I noticed that the PRM Algorithm creates a valid PRG despite having collisions (in between the samples) in it. After running "status = RDK.PluginCommand("CollisionFreePlanner", "Join", "Target 1|Target 2|ProgSample")" I can easily check if the path has collisions by using the code below. However, the PRM does not offer any alternative Paths after it found a "valid" solution. My suggestion would be to take the code below into the PRM algorithm evaluation so the search for a collision free path can continue if a collision is detected. Otherwise the whole map becomes useless, because the only way to find another path, as far as I can see, is to refresh the collision map.
Simulation speed: I already simplified most collision geometries in the station. However the calculation time of the map takes quite a while. Are there any new addons that make better use of the grapics card? My graphics card usage is always below 5 percent (with or without the option “GPU Array usage”). Also my processor seems to be running at 50 % usage without turbo-boosting up. Any hints are appreciated.
If you have any questions to elaborate on one of my descriptions, I will be happy to.
Regards, Robin
Code:
# Source: //m.sinclairbody.com/doc/en/PythonAPI/robolink.html?highlight=prog#robolink.Robolink.AddProgram
# Update the path (can take some time if collision checking is active)
program = RDK.Item('ProgSample')
update_result = program.Update(COLLISION_ON)
print(update_result)