Learning robotic

 OPML AMAZON WAREHOUSE The objective of this exercise is to empower our robot to transfer a designated shelf from its initial location to a distinct area, utilizing a supplied map and shelf locations as points of reference. In my scenario, I have chosen the initial point as the destination. Additionally, it is crucial to highlight that we were constrained to crafting movement paths solely through the utilization of the OMPL library, a factor that has notably streamlined the entire task. How have I achieved it? First version The initial step involved configuring the robot to generate routes using OMPL. To achieve this, it was necessary to establish bidirectional mappings between the map and real-world coordinates, enabling seamless coordinate base transformations. Subsequently, I approximated the robot as a point (or pixel, in this context) and applied erosion to the map using a kernel size equivalent to the robot's pixel size plus an inflated area, akin to the approach employed by