Re: [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 Mark,

Thank you so much for your time and response. Appreciate it.

I will look up at the link that you gave me. I understood that the
responsibility area of OMPL is only geometric planning and kinematic
solving.

Thanks once more for taking time out for answering novice questions.

Regards,

Deepak


On Sat 23 Jun, 2018, 09:15 Mark Moll, <mm...@ri...> wrote:

> Hi Deepak,
>
> You might have better luck asking your MoveIt! questions on
> 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,
>
> 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
>
>
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