Generate c-space on Moveit.
Hello All,
I have a simple scene where I have a robot arm (TM5 900) and some obstacles (shelves, cubes, etc...) I would like to generate the possible space the robot can move (C-space or workspace), so I can sample valid positions for my research. Some examples of what I would like to generate:
- https://www.cs.unc.edu/~jeffi/c-space...
- https://natanaso.github.io/ece276b201...
- https://www.youtube.com/watch?v=w4hqV...
I did some research on the topic and could not find any easy solution for this (or any solution ever):
My Idea was to create this c-space by brute force of moving the robot to all the points in the vicinity and generating the plot, but this process would be very slow. So I imagine that there should be a better way to do this.
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