====== Lab08 - Randomized Sampling-based Motion Planning contd. ======

^ Motivations and Goals  ^
| Test the planning algorithm with a real walking robot  |
^ Tasks ([[courses:b4m36uir:internal:instructions:lab08|teacher]])  ^
| Prepare an evaluation scenario for testing with a real hexapod walking robot  |


===== Experimental arena =====

^ width  |  3.1 m | 
^ height  |  2.3 m |
^ obstacle size $\qquad$|  $\qquad$ 0.1 m |
^ example maze |  {{:courses:b4m36uir:labs:test_maze.zip|maze}}|


**Coordinate transformations between the grid map and the real-world coordinates**\\
The origin of the coordinate system in V-REP is centered with respect to the imported map, whereas the real-world localization provides the robot with the coordinates in the first quadrant of the coordinate space. Hence, the lower left corner of the map has real-world coordinates (0, 0). The localization system provides the robot with metric coordinates.

**Task**\\
Prepare the evaluation scenario for the robot and correct the coordinate transformation for the robot to correctly follow the path. Use the ''eval_small.py'' script from lab04 or lab06.\\
Test the navigation pipeline with the real hexapod robot.