How do I use Ompl to generate the correct path?

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sean40471149
Posts: 4
Joined: 08 Oct 2018, 13:00

How do I use Ompl to generate the correct path?

Post by sean40471149 » 13 Oct 2018, 08:21

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!

fferri
Posts: 238
Joined: 09 Sep 2013, 19:28

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

Post by fferri » 15 Oct 2018, 07:56

It may happen that OMPL does not find a path (due to insufficient planning time given).
You should check the path variable.

sean40471149
Posts: 4
Joined: 08 Oct 2018, 13:00

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

Post by sean40471149 » 15 Oct 2018, 08:51

HI, fferri

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

Thank you

fferri
Posts: 238
Joined: 09 Sep 2013, 19:28

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

Post by fferri » 16 Oct 2018, 11:01

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.

sean40471149
Posts: 4
Joined: 08 Oct 2018, 13:00

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

Post by sean40471149 » 19 Oct 2018, 08:19

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.

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