OMPL Robot Arm Planning - Shortest End-Effector Path

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djl11
Posts: 1
Joined: 24 May 2017, 20:10

OMPL Robot Arm Planning - Shortest End-Effector Path

Post by djl11 »

Hi there,

Basically, I have been using OMPL for motion planning with a Mico arm, and I was wondering what distance metrics are used in the functions simExtOMPL_solve() and simExtOMPL_simplifyPath() by default? I.e. Given that I have specified the state space as the 6 joints?

Would it be based on a simple distance metric in the 6-dof joint space? Or in end-effector space?
Ideally, I would like to prioritize paths with the shortest end-effector euclidean trajectories.

I have looked at simExtOMPL_setProjectionEvaluationCallback(), and I could define my own projection from 6-dof state space to 3-dof end-effector position. Would this result in simExtOMPL_simplifyPath() finding my the path with shortest end-effector trajectory?

I have read through the OMPL website, but still a bit confused on exactly what is being optimised for in these manipulator cases.

Any help would be greatly appreciated!!

Thanks a lot,
Dan

coppelia
Site Admin
Posts: 10339
Joined: 14 Dec 2012, 00:25

Re: OMPL Robot Arm Planning - Shortest End-Effector Path

Post by coppelia »

Hello Dan,

you can define a metric in simExtOMPL_createStateSpace: the optional weight argument does this.

Cheers

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