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Path selection for object avoidance in Moveit!

asked 2021-01-28 05:32:30 -0500

mike_popcorn gravatar image

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

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answered 2021-01-29 20:37:29 -0500

fvd gravatar image

If the robot can find trajectories along those paths then sure, it's possible. But I don't think that there is a convenient way in MoveIt to specify "through-point goals" like you seem to imagine (except as waypoints for cartesian interpolations), so you would have to plan in multiple steps and concatenate the trajectories.

Pull requests to implement intermediate goals are welcome.

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Thank you for answering my question. For now, I would like to generate a multi-step trajectories. I'm still a beginner, but I'll do my best.

mike_popcorn gravatar image mike_popcorn  ( 2021-01-29 21:26:42 -0500 )edit

Good luck, and feel free to post follow-up questions when you get stuck.

fvd gravatar image fvd  ( 2021-01-29 23:11:51 -0500 )edit

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Asked: 2021-01-28 05:31:37 -0500

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Last updated: Jan 29 '21