Fuzzy 3D cost map in ROS?
Hello ROS developers.
Background:
In an work I'm doing a robotic manipulator should grasp a human forearm on user input. I'm thinking of using Fuzzy logic to generate a 3D cost map such that the end-effector do not hit the human in an unwanted or unplanned area of the body.
The questions
Can OctoMap/OMPL use a 3D cost map with a float value or is it only bool?
Can T-RRT algorithm be used to solve the planning for the gripper?
Can Moveit be used to plan such that it uses a 3D float cost map on Melodic? (preferably without heavy modifications)
General tips on where I can find papers/information/others that have done the same is much appreciated.