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Moveit Planning Inflation

asked 2019-10-28 11:54:36 -0500

Eisenhorn

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updated 2019-10-28 11:54:51 -0500

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.

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answered 2020-02-29 12:49:06 -0500

fvd
2180 ●15 ●98 ●56

I think the term you are looking for is "padding". See here.

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Asked: 2019-10-28 11:54:36 -0500

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Last updated: Feb 29 '20

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