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

[Mark M. <mm...@ri...>]

Hi Deepak,

You might have better luck asking your MoveIt! questions on https://discourse.ros.org <https://discourse.ros.org/>. MoveIt! uses OMPL’s planners in the ompl::geometric namespace, which—as the name suggests—only perform geometric/kinematic planning and don’t consider the manipulator weight.

If the arm has a payload of 150kg and MoveIt! cannot find a path for lifting up a 3kg object, I doubt that manipulator weight is the problem. There must be something else that is off about your setup.

Best,
Mark



> On Jun 21, 2018, at 4:15 AM, Deepak <dpa...@gm...> wrote:
> 
> 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 <http://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 <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
> 
> 
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