Is it possible to visualize an arm configuration space with Moveit?
I was looking for a simple way of visualizing an arm configuration space having the URDF model.
So basically I have a mobile platform and a UR5 arm attached on top of it. I was wondering if I can easily see the possible feasible arm configurations that avoid collisions with the arm itself and with the mobile platform using Moveit! and the URDF information.
Afaik this is currently not supported, at least not by MoveIt.
There is something similar available (but does much more) in something called reuleaux. It may be a bit of work to get that working on recent ROS versions though.
@gvdhoorn Thanks, I will give it a try