[ompl-users] Does the weight of the object to be picked by an arm manipulator, influence the path planning by OMPL

[Deepak <dpa...@gm...>]

Hello ompl-users,

Sorry if this is the wrong way to raise a query in this forum. I did not
find any other link to raise a question.

I am pretty new to ROS and Robotics. I raised this same question in ROS
answers forum and robotics.stackexchange.com,

But I could not get any answers.  Pardon my naiveté in this sort of
question.

Does the weight of the object to be picked by an arm manipulator, influence
the trajectory/path planning by OMPL?

If yes, could someone explain how by tweaking some settings, we can get it
to plan for heavier object lifting trajectories?

So that it can maintain the end effector pose after picking an heavy item
and maintain its velocity/acceleration, so that it does not fall.

How do I go about approaching a problem like this? Any keywords onto where
to carryout my search to solve this problem, also would be of great help.

For some context, I could successfully use the KUKA arm model from the
following git link,

https://github.com/udacity/RoboND-Kinematics-Project

 The KUKA arm is pretty powerful and the model used in simulation is
capable of payloads upto 150Kg.

However, when I tried to lift a cylidrical object weighing 3 kgs, the KUKA
arm would not pick up.

Kindly help me with any pointers. Thank you for your time in advance.

Regards,

Deepak