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Some background about this question can be found here I would like to understand what is the cause of failure to pick an heavier object ( >3 kg in this case). How does MoveIt! check this?
Does the weight of the object to be picked by an arm manipulator, influence the trajectory/path planning by OMPL?
No. It does not. Or at least: not in the default situation/configuration/MoveIt integration, and not with the way OMPL is currently used.
I say currently, as more recent OMPL releases start getting more extensive support for cost functions, constraints and optimisation goals. Those could allow more advanced types of planning which do take these things into account, but for now that is not done/used in the MoveIt integration.
I would like to understand what is the cause of failure to pick an heavier object ( >3 kg in this case). How does MoveIt! check this?
MoveIt doesn't check this and I doubt MoveIt (or OMPL) is the cause of what you're describing in #q294326.
Thanks once more for your time and answer gvdhoorn! If MoveIt! does not cause the failure to grasp the object, which other module could be causing this? :(
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!
Asked: 2018-06-21 03:32:51 -0500
Seen: 152 times
Last updated: Jun 24 '18
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