Path selection for object avoidance in Moveit!
Hello, everyone.
I would like to use Moveit! to avoid obstacles with a robot arm. I was wondering if there is a way to specify how to avoid obstacles in that case.
For example, when avoiding a cylindrical obstacle, if there is no problem with the arm's range of motion
- Course 1: Go around in front of the obstacle
- Course 2: Go over the obstacle
Both of these courses can be realized in Moveit!, right?
I would like to limit this course to one or the other. Is such a thing possible?
Thank you:D