Is it possible to set rigid parts in OMPL Trajectory Planning?
Hello,
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.
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)
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. :)