On UR5 Motion Planning using OMPL
Posted: 15 Feb 2019, 12:53
Hi,
I tried using the motionPlanningDemo1 code for UR5. I've posted the scene here:
https://drive.google.com/file/d/11_Yrhl ... sp=sharing
I modified the necessary specs like collision pairs, ik group etc for UR5 so that I could use it like KUKA LBR in the original motionPlanningDemo1 scene. I however observed that on running the algorithm, quite often I get the following error:
In the ones that did work( e.g.TRRT, STRIDE, PDST), I observed that:
1. The robot the wrist moves intersecting the robot body itself to reach the target.
2. Sometimes the robot directly reaches the target, instead of first arriving at a point and then moving in a straight path towards the target. [I didn't make any changes to this part of the code i.e. getMatrixShiftedAlongZ() or generateIKPath() etc]
Any suggestions on how to fix it?
Additionally, kindly let me know if there is a simpler example of OMPL motion planning for a robot arm that one could learn from?
Best Regards,
I tried using the motionPlanningDemo1 code for UR5. I've posted the scene here:
https://drive.google.com/file/d/11_Yrhl ... sp=sharing
I modified the necessary specs like collision pairs, ik group etc for UR5 so that I could use it like KUKA LBR in the original motionPlanningDemo1 scene. I however observed that on running the algorithm, quite often I get the following error:
I narrowed it down to the choice of Algorithm in OMPL. I tried all possible algorithms(including tweaking the parameters) mentioned on the website. Some of them do not generate a path at all, some generate a motion for some targets and fail for other targets.Lua runtime error: [string "CHILD SCRIPT UR5_link1_visible"]:264: attempt to get length of local 'path' (a nil value)
stack traceback:
[string "CHILD SCRIPT UR5_link1_visible"]:264: in function 'getReversedPath'
[string "CHILD SCRIPT UR5_link1_visible"]:352: in function <[string "CHILD SCRIPT UR5_link1_visible"]:273>
In the ones that did work( e.g.TRRT, STRIDE, PDST), I observed that:
1. The robot the wrist moves intersecting the robot body itself to reach the target.
2. Sometimes the robot directly reaches the target, instead of first arriving at a point and then moving in a straight path towards the target. [I didn't make any changes to this part of the code i.e. getMatrixShiftedAlongZ() or generateIKPath() etc]
Any suggestions on how to fix it?
Additionally, kindly let me know if there is a simpler example of OMPL motion planning for a robot arm that one could learn from?
Best Regards,