Moveit Planning Inflation

asked 2019-10-28 11:54:36 -0600

Eisenhorn gravatar image

updated 2019-10-28 11:54:51 -0600

Hi,

Is it possible to add some sort of "planning inflation" when planning a trajectory with moveit? I would like that the planned trajectory keeps a specific minimum safty distance to any other given link. I am right now using the OMPL Library.

BR

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