[ompl-users] coupled joint space

[Brai. P <bri...@gm...>]

Hi,
I am working on centralized coupled planning for 2 robotic arms on vrep. My
question is how to represent the joint space of both of the robots in the
one joint space so I can avoid self-collision and robot- robot collisions.
I have configured the kinematic chain in the simulation tool but yet I need
to know how to represent this coupled configuration space using ompl ,
could you suggest the steps?
Cheers