Hello,
I am using moveit+ompl to control and plan for my 6dof manipulator. I created .srdf and .yaml files from .urdf using MoveIt setup assistant.
What i want to do is to add degrees of freedom to the existing state space before planning. By default there must be some state space which is generated from moveit config files (assumably). And trajectory is being planned in this state space. Is there a way to modify this space state?
For example i want to move a bottle with my manipulator. But there is obstacle in front of the bottle so i can't reach it. But moving the obstacle with manipulator will allow for the reach. My goal is to create such a space state where operation of moving the obstacle can be described through space state. It can be done by adding degrees of freedom of obstacle to existing state space plus some customization of space state validity checking to make sure we move the obstacle with manipulator.
Where can i find information how moveit uses ompl and interacts with it, how can i access state spaces parameters and change them? Where do i even start?
Thanks in advance.
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