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Update configs
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@sjahr
sjahr committed Oct 12, 2023
1 parent 93aa055 commit 0b8e413
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Showing 7 changed files with 51 additions and 48 deletions.
18 changes: 9 additions & 9 deletions dual_arm_panda_moveit_config/config/ompl_planning.yaml
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@@ -1,13 +1,13 @@
planning_plugin: ompl_interface/OMPLPlanner
# To optionally use Ruckig for jerk-limited smoothing, add this line to the request adapters below
# default_planner_request_adapters/AddRuckigTrajectorySmoothing
request_adapters: >-
default_planner_request_adapters/AddTimeOptimalParameterization
default_planner_request_adapters/ResolveConstraintFrames
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints
# To optionally use Ruckig for jerk-limited smoothing, add this line to the response adapters below
# - default_planner_request_adapters/AddRuckigTrajectorySmoothing
request_adapters:
- default_planner_request_adapters/ResolveConstraintFrames
- default_planner_request_adapters/FixWorkspaceBounds
- default_planner_request_adapters/FixStartStateBounds
- default_planner_request_adapters/FixStartStateCollision
response_adapters:
- default_planner_response_adapters/AddTimeOptimalParameterization
start_state_max_bounds_error: 0.1
planner_configs:
SBLkConfigDefault:
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13 changes: 7 additions & 6 deletions fanuc_moveit_config/config/chomp_planning.yaml
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@@ -1,10 +1,11 @@
planning_plugin: chomp_interface/CHOMPPlanner
request_adapters: >-
default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints
request_adapters:
- default_planner_request_adapters/ResolveConstraintFrames
- default_planner_request_adapters/FixWorkspaceBounds
- default_planner_request_adapters/FixStartStateBounds
- default_planner_request_adapters/FixStartStateCollision
response_adapters:
- default_planner_response_adapters/AddTimeOptimalParameterization
start_state_max_bounds_error: 0.1
planning_time_limit: 10.0
max_iterations: 200
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18 changes: 9 additions & 9 deletions fanuc_moveit_config/config/ompl_planning.yaml
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Original file line number Diff line number Diff line change
@@ -1,13 +1,13 @@
planning_plugin: ompl_interface/OMPLPlanner
# To optionally use Ruckig for jerk-limited smoothing, add this line to the request adapters below
# default_planner_request_adapters/AddRuckigTrajectorySmoothing
request_adapters: >-
default_planner_request_adapters/AddTimeOptimalParameterization
default_planner_request_adapters/ResolveConstraintFrames
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints
# To optionally use Ruckig for jerk-limited smoothing, add this line to the response adapters below
# - default_planner_request_adapters/AddRuckigTrajectorySmoothing
request_adapters:
- default_planner_request_adapters/ResolveConstraintFrames
- default_planner_request_adapters/FixWorkspaceBounds
- default_planner_request_adapters/FixStartStateBounds
- default_planner_request_adapters/FixStartStateCollision
response_adapters:
- default_planner_response_adapters/AddTimeOptimalParameterization
start_state_max_bounds_error: 0.1
planner_configs:
AnytimePathShortening:
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13 changes: 7 additions & 6 deletions panda_moveit_config/config/chomp_planning.yaml
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@@ -1,10 +1,11 @@
planning_plugin: chomp_interface/CHOMPPlanner
request_adapters: >-
default_planner_request_adapters/AddTimeOptimalParameterization
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints
request_adapters:
- default_planner_request_adapters/ResolveConstraintFrames
- default_planner_request_adapters/FixWorkspaceBounds
- default_planner_request_adapters/FixStartStateBounds
- default_planner_request_adapters/FixStartStateCollision
response_adapters:
- default_planner_response_adapters/AddTimeOptimalParameterization
start_state_max_bounds_error: 0.1
planning_time_limit: 10.0
max_iterations: 200
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14 changes: 7 additions & 7 deletions panda_moveit_config/config/ompl_planning.yaml
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Original file line number Diff line number Diff line change
@@ -1,13 +1,13 @@
planning_plugin: ompl_interface/OMPLPlanner
# To optionally use Ruckig for jerk-limited smoothing, add this line to the request adapters below
# default_planner_request_adapters/AddRuckigTrajectorySmoothing
request_adapters: >-
default_planner_request_adapters/AddTimeOptimalParameterization
default_planner_request_adapters/ResolveConstraintFrames
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints
request_adapters:
- default_planner_request_adapters/ResolveConstraintFrames
- default_planner_request_adapters/FixWorkspaceBounds
- default_planner_request_adapters/FixStartStateBounds
- default_planner_request_adapters/FixStartStateCollision
response_adapters:
- default_planner_response_adapters/AddTimeOptimalParameterization
start_state_max_bounds_error: 0.1
planner_configs:
APSConfigDefault:
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10 changes: 5 additions & 5 deletions panda_moveit_config/config/pilz_industrial_motion_planner_planning.yaml
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@@ -1,9 +1,9 @@
planning_plugin: pilz_industrial_motion_planner/CommandPlanner
request_adapters: >-
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints
request_adapters:
- default_planner_request_adapters/FixWorkspaceBounds
- default_planner_request_adapters/FixStartStateBounds
- default_planner_request_adapters/FixStartStateCollision

default_planner_config: PTP
capabilities: >-
pilz_industrial_motion_planner/MoveGroupSequenceAction
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13 changes: 7 additions & 6 deletions panda_moveit_config/config/stomp_planning.yaml
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@@ -1,10 +1,11 @@
planning_plugin: stomp_moveit/StompPlanner
request_adapters: >-
default_planner_request_adapters/AddTimeOptimalParameterization
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints
request_adapters:
- default_planner_request_adapters/ResolveConstraintFrames
- default_planner_request_adapters/FixWorkspaceBounds
- default_planner_request_adapters/FixStartStateBounds
- default_planner_request_adapters/FixStartStateCollision
response_adapters:
- default_planner_response_adapters/AddTimeOptimalParameterization

stomp_moveit:
num_timesteps: 60
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