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The answer given by user @gvdhoorn is correct. MoveIt! does not factor in the payload weight while motion planning using OMPL. I raised the same question on OMPL-users forum
I received the answer from Mr. Mark Moll, who leads the OMPL development. Pasting his reply here.
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.
You should be able to view the full conversation in the link given here.
I felt I should add this answer here, since I got this answered from the owners of OMPL. Thanks!
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