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How to define a cost function for the 'general state cost integral' optimization objective of OMPL through MoveIt?

asked 2017-07-20 05:21:52 -0500

JHofmann gravatar image

Hi, I'm relatively new to OMPL and MoveIt, but I'm fairly certain that I understand the capabilities of OMPL and that there are no tutorials for this. Maybe I'm just missing something. I'm hoping someone might have an idea.

I want to use the general state cost integral optimization objective to plan movements for a UR5 robot arm. I know how to tell MoveIt to use this method (in ompl_planning.yaml), but I don't know where I need to define the cost function. Is it even possible at the moment?

Thank you for your time!

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I don't think this is supported in MoveIt right now, but let's wait on some other answers.

gvdhoorn gravatar image gvdhoorn  ( 2017-07-20 06:05:39 -0500 )edit

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answered 2017-07-28 09:31:56 -0500

Dave Coleman gravatar image

This has been asked and basically answered before on the moveit mailing list (but thanks for asking here!):

Cost-optimization planning

Related: Planning direct path plans

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Asked: 2017-07-20 05:21:52 -0500

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Last updated: Jul 28 '17