I'm researching the capabilities of MoveIt! planning library. I'm watching [this](https://www.youtube.com/watch?v=1Zdkwym42P4) example of library running on Baxter. I tried this tutorial on the robot in our department and it is running as expected. However this demonstration is showing how to introduce artificial obstacles in the environment and specific end position of the robot arms. Is it possible to also get the calculated optimal path back from the planner? And one more question is - is it possible to use this planner to solve the Tower of Hanoi problem? I'll be happy someone give me more sophisticated examples of this planner's capabilities.
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