An empirical study of single-query motion planning for grasp execution
Jonathan Meijer, Qujiang Lei, Martijn Wisse · 2017
This paper identifies high-performing Open Motion Planning Library (OMPL) planners for grasp execution and simultaneously presents useful benchmark data. Four grasp executions were defined using a UR5 manipulator. The performance was measured by means of solved runs, computing time and path length. Based on the results, planners are recommended and the reasons are discussed.