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I do have a robotic application, where a 7Dof robot arm is mounted on a omnidirectional mobile platform. My overall goal is to get MoveIt! to calculate a sequence of joint movements, such that the robot EEF reaches a desired goal in Cartesian space.

In order to combine a robot platform with a world, the MoveIt! setup assistant lets you assign virtual joints between the "footprint" of the platform and the world it is placed in.

I do have two strategies. Either

  • select a planar joint as a virtual joint. (What are the degrees of freedom or respectively the joint information that I can gather from this joint)

or

  • select a fixed joint and add a (prismatic-x -> prismatic-y -> revolute-z) chain to the robot model.

Are there any significant differences (advantages/ disadvantages) to either of the approaches?

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