Hi,
I would like to ask if in klampt is already implemented the possibility of planning coordinate motion for two robot or subrobot models, ensuring collision-free paths .
Thanks for your support !!
There is nothing “built-in” for this, but you could define a CSpace for kinematic multi-robot planning as long as you implement a joint configuration, sampler, and collision detector.
The kinodynamic planning pipeline is not implemented in Python, but you could do this in C++.
The most scalable approach is to implement special-purpose planners, eg planning on a coordination graph. There are no plans as of yet to implement something like this in Klampt, but you are welcome to contribute something!