Does the sampling for six-axis manipulator occurs in joint-space or in SE(3)?

Hi, I have a question about the sampling for the OMPL planners implementation for MoveIt. Im using ROS Noetic + MoveIt on Ubuntu 20.04. Im running simulation on six-axis 6R robotic arm following the Pieper-condition.

I have followed the tutorial to create the moveit configuration files using the Moveit Setup Assistant for this robot. Im just curious, using the default configuration (I didn't change anything after the config package is built), if the sampling for the manipulator OMPL planners robot arm is in the joint space (S1)^6 or in the SE(3) when I define the goal pose in SE(3). I could not find the sampler code definition in the MoveIt codes. Thanks.

Asked by h iman on 2023-02-06 02:40:29 UTC

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Answers

I think most OMPL planners support both. There is also a configuration option where you can specify which one you want. See the discussion at the following page, especially the first comment from v4hn:

https://github.com/ros-planning/moveit/pull/541

Asked by Mike Scheutzow on 2023-02-11 12:32:28 UTC