we have successfully done some pick and place motion planning for a ur10 robot using moveit. we can successfully add boxes and see them in rviz and it moves around them, etc. But what we'd really like to do is find a way to limit the joint angles and also establish some end effector orientation constraints, a la "keep the water glass upright"...
i found this joint constraint in the c++ docs
http://docs.ros.org/indigo/api/moveit_core/html/classkinematic__constraints_1_1JointConstraint.html
anything similar exist in python? and any examples of it in use out there?
setup:
ros kinetic gazebo moveit rviz ubuntu 16.04 ur10 default ompl parameters.
*we did try to limit joint angles in the .xacro file but that seems to be post OMPL solver. ie. you would expect solver to really speed up on a simple path if you shrink the state space but changing .xacro file seems to actually slow it down. which makes me speculate that the OMPL RRT algorithm random path planning is still trying random steps within the whole joint space and then checking to see if that is within the limits set in .xacro rather than using the limits in .xacro to more intelligently guess... *
thanks!
danjo
↧