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 | 1 | initial version |
RRT-Connect doesn't do any weighting on any of the axis, so that is not possible with that planner.
In order to penalize slider movement with OMPL planners, you would need to use one of the optimal planners (Like RRT, PRM, etc). You would then need to write a custom cost function that assigns a lower cost to small slider movements. While this would certainly be possible, I am not sure how the performance would be, but certainly (a lot) slower than RRT-Connect. If you are planning for pose targets, you will also still be dependent on the quality of your IK solution, and I don't know whether any of the IK solvers support weights on the axis.
Perhaps something like STOMP or CHOMP can be used to assign such costs, but I'm not sure.
| | 2 | No.2 Revision |
RRT-Connect doesn't do any weighting on any of the axis, so that is not possible with that planner.
In order to penalize slider movement with OMPL planners, you would need to use one of the optimal planners (Like RRT, PRM, RRT*, PRM*, etc). You would then need to write a custom cost function that assigns a lower cost to small slider movements. While this would certainly be possible, I am not sure how the performance would be, but certainly (a lot) slower than RRT-Connect. If you are planning for pose targets, you will also still be dependent on the quality of your IK solution, and I don't know whether any of the IK solvers support weights on the axis.
Perhaps something like STOMP or CHOMP can be used to assign such costs, but I'm not sure.
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