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How do I use Ompl to generate the correct path?

Posted: 13 Oct 2018, 08:21
by sean40471149
Hello!

I want to build a UR5 robotic arm with a probe, and the ability to dodge a path moves to a specified point, but I have some questions about dynamic simulation and self-collision to ask.

I use the UR5 robotic arm with a fixed probe as the whole object, but when I use Ompl to plan a Dodge path, the result is less than expected, and tip and testTarget do not have a complete correspondence when planning a specified point.

Here is a schematic of my collision results.
Image

This is my document.
https://drive.google.com/open?id=19a9Aq ... UsRM8vKBZt

Are there any omissions in the program or Object properties settings?

Please help me, thank you!

Re: How do I use Ompl to generate the correct path?

Posted: 15 Oct 2018, 07:56
by fferri
It may happen that OMPL does not find a path (due to insufficient planning time given).
You should check the path variable.

Re: How do I use Ompl to generate the correct path?

Posted: 15 Oct 2018, 08:51
by sean40471149
HI, fferri

The reason may be due to a collision path variable caused it? Or with other settings?

Thank you

Re: How do I use Ompl to generate the correct path?

Posted: 16 Oct 2018, 11:01
by fferri
Just an additional note: that example scene might be overly complicated.

If you follow the manual page of the OMPL plugin, it gives you the list of functions to call (exactly in that order):
which is the most minimal set of instructions to create and solve a planning task.

Re: How do I use Ompl to generate the correct path?

Posted: 19 Oct 2018, 08:19
by sean40471149
HI, fferri

After that, I redo the entire file and reduce the complexity of the scene and find it working properly!

Thank you so much.