Re: [ompl-users] coupled joint space

[Mark M. <mm...@ri...>]

Hi Brian,

In theory it’d be possible to create a CompoundStateSpace composed of the StateSpaces for each individual robot. You’d have to modify the state validity checker to return true if for a given joint state of the robots neither is colliding with the environment or with each other/themselves. Here is a basic example of how this can be done in OMPL.app for rigid bodies:

Python version:
https://github.com/ompl/omplapp/blob/master/demos/SE3RigidBodyPlanning/SE3MultiRigidBodyPlanning.py <https://github.com/ompl/omplapp/blob/master/demos/SE3RigidBodyPlanning/SE3MultiRigidBodyPlanning.py>
C++ version:
https://github.com/ompl/omplapp/blob/master/demos/SE3RigidBodyPlanning/SE3MultiRigidBodyPlanning.cpp <https://github.com/ompl/omplapp/blob/master/demos/SE3RigidBodyPlanning/SE3MultiRigidBodyPlanning.cpp>

Doing this in V-REP would be a non-trivial amount of work. Alternatively, you can plan for each robot separately and reparametrize the timing of the trajectories to avoid collisions (analogous to cars crossing an intersection).

Best,

Mark



> On Feb 26, 2020, at 4:19 AM, Brai. P <bri...@gm...> wrote:
> 
> 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
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