Moveit planning: forcing to use a specific axis
Hi, I'm using ros kinetic on ubuntu 16.04 and i have to deal with an abb 120 six-axis robot arm. Is it possible to force/constraint the moveit planner solution to rely more on a specific axis? in particular i would like that the solution to rely on the 6th axis (-400,+400 degree rotation allowed) than on the 4th axis. Using the 4th axis the robot arm tends to stuck up quite easily. For my task just using the 6th would be perfect (i.e. locking the 4th axis) would be an acceptable way to work around the problem. C++ and Python solutions are both well accepted. Thank you a lot in advance for your help!
MoveIt uses OMPL in its default configuration. To do what you want, you'd have to somehow configure the planners in OMPL to consider axis 4 'expensive'. I'm not sure how straightforward that would be.
Edit: if you don't need things to be 'dynamic', an easy and ugly way to achieve something ..
.. like this would be to change the joint limits in the urdf and moveit configuration pkg for the 4th axis.
But that would always limit the 4th axis, not make OMPL prefer the 6th over the 4th.