π MoMa-Pos: An Efficient Object-Kinematic-Aware Base Placement Optimization Framework for Mobile Manipulation
Beichen Shao 1, Nieqing Cao 2, Yan Ding 3, Xingchen Wang1,Fuqiang Gu1, Chao Chen 1
1 College of Computer Science,Chongqing University, 2 Xiβan Jiaotong Liverpool University 3 Shanghai Artificial Intelligence Laboratory
Clone the repository and initialize submodules:
git clone https://github.com/AutonoBot-Lab/Project_MoMa-Pos.git
git submodule init
git submodule update
Install the OMPL package:
Download the latest OMPL release.
pip3 install pygccxml==2.2.1.
cd Project_MoMa-Pos/package_OMPL
pip3 install ompl-1.6.0-cp38-cp38-manylinux_2_28_x86_64.whl
βββ Kitchen_models
βββ MoMa_Pos
β βββ MoMa_main.py
β βββ ...
βββ URDF_models
βββ URDF_robot
β βββ segbot.urdf
β βββ ur5e.urdf
β βββ ...
βββ utils
βββ pb_ompl.py
βββ utils_Bestman.py
βββ utils_sample_R.py
βββ utils_Potential_R.py
Run a basic demo:
python3 ./MoMa_Pos/MoMa_main.py
And you can change the position of bowl(element_H2) in
utils/utils_Kitchen_v2
Then you can see Bowl in different shelves of the fridge:
Bowl in different positions in Drawer:
The current code's parameter input is not written succinctly. We will address this by refining the code encapsulation in subsequent updates
If you find this work useful, please consider citing:
@inproceedings{shao2026momapos,
title={MoMa-Pos: An Efficient Object-Kinematic-Aware Base Placement Determination Framework for Mobile Manipulation},
author={Shao, B. and Cao, N. and Ding, Y. and Wang, X. and Gu, F. and Chen, C.},
booktitle={Algorithms and Architectures for Parallel Processing},
editor={Liu, H. and Ibrahim, S. and Rauber, T.},
series={Lecture Notes in Computer Science},
volume={16383},
pages={254-270},
publisher={Springer},
address={Singapore},
year={2026},
doi={10.1007/978-981-95-8405-5_14}
}