Is it possible to set rigid parts in OMPL Trajectory Planning?

asked 2022-01-13 03:01:05 -0500

adrgru gravatar image

updated 2022-01-13 03:01:22 -0500


My robot is ceiling mounted and needs to pick up and place a cup. Is there any way to configure the OMPL planner so that the last joints remain rigid and upright during the pickup motion or throughout the whole process. Because right now I have the problem that when I lower the gripper to pick up an object, it behaves strangely and the last joints rotate to get into the pickup position, causing the object to be knocked over.

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This is typically approached using something called "constrained planning".

(not an answer, as I'm not telling you how to do this. This is just a hint)

gvdhoorn gravatar image gvdhoorn  ( 2022-01-13 03:37:48 -0500 )edit

OK, thanks. I thought there might be a simple solution to this problem in the ompl_planning.yaml file. But it seems to be more complicated. And since it is my bachelor thesis project, I think I have to ignore this problem for now because I don't have that much time left. :)

adrgru gravatar image adrgru  ( 2022-01-13 03:54:05 -0500 )edit