Configuring state space in MoveIt+OMPL
Hello, I am using moveit+ompl to control and plan for my 6dof manipulator. I created .srdf and .yaml files from .urdf using MoveIt setup assistant. What i want to do is to add degrees of freedom to the existing state space before planning. By default there must be some state space which is generated from moveit config files (assumably). And trajectory is being planned in this state space. Is there a way to modify this state space?
For example i want to move a bottle with my manipulator. But there is obstacle in front of the bottle so i can't reach it. But moving the obstacle with manipulator will allow for the reach. My goal is to create such a state space where operation of moving the obstacle can be described through state space. It can be done by adding degrees of freedom of obstacle to existing state space plus some customization of state space validity checking to make sure we move the obstacle with manipulator. Where can i find information how moveit uses ompl and interacts with it, how can i access state spaces parameters and change them? Where do i even start?
Thanks in advance.
So are you trying to move the bottle with your manipulator while knowing what is in the robot's workspace? For instance, if you cannot plan around the obstacle(s) to reach the bottle, you want to move the obstacle(s) out of the way?
MoveIt can add collision objects to the planing scene.
You are correct. I want to reach an object in workspace that is behind some obstacle. In order to reach it i need to move the obstacle away first. And i want to define state space in such a way that obstacle has dof's to let planner know that it can play with obstacle and move it to help reach goal.