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Trajectory swept volumes OCTOMAP / OCTOTREE

asked 2021-07-05 01:06:57 -0500

cambel07
92 ●4 ●12 ●15

Hi,

I would like to compute the swept volume of a trajectory followed by a robotic arm. The inputs would be something like the URDF and the list of joint configurations of the robot. The output would be a volume representation like Octomap/Octotree or a mesh.

My question is, is there in ROS any tool that already provide any functionality like this?

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