[Lukas12]

At the moment, I am trying to integrate OMPL into RoboDK to use planners such as PRM*, RRT, and FMT*. Scene extraction from RoboDK to Python is already working (robot model, obstacles, joint limits, start/goal configurations).
My current challenge is collision checking:
OMPL runs, but some generated paths are not feasible. I suspect the issue is with the synchronization between OMPL(Python script) and RoboDK’s collision checker (currently using

Code:

return self.RDK.Collisions() == 0

).
A few questions:

• Has anyone successfully integrated OMPL directly with RoboDK?
  
• How is collision checking handled in RoboDK’s internal PRM implementation?
  
• Is there a way to query the minimum distance between the robot and obstacles, rather than only checking for collisions?
  

[Albert]

We have improved our PRM motion planner and we can share it with you before we publicly release it. It is better if you contact us by email so we can send you a preview of our new motion planner.

It would help if you can share more details and example project so we can make sure it can fit your needs.