From 7162dcd1b93178bac166081425863413c27ed9ed Mon Sep 17 00:00:00 2001 From: Sebastian Jahr Date: Tue, 21 Nov 2023 16:10:05 +0100 Subject: [PATCH] Update planning pipeline configs (#189) --- .../config/ompl_planning.yaml | 21 ++++++++++--------- .../config/chomp_planning.yaml | 16 +++++++------- fanuc_moveit_config/config/ompl_planning.yaml | 21 ++++++++++--------- .../config/chomp_planning.yaml | 14 ++++++------- panda_moveit_config/config/ompl_planning.yaml | 19 +++++++++-------- ...lz_industrial_motion_planner_planning.yaml | 10 ++++----- .../config/stomp_planning.yaml | 15 +++++++------ 7 files changed, 62 insertions(+), 54 deletions(-) diff --git a/dual_arm_panda_moveit_config/config/ompl_planning.yaml b/dual_arm_panda_moveit_config/config/ompl_planning.yaml index b01771be..04656b4e 100644 --- a/dual_arm_panda_moveit_config/config/ompl_planning.yaml +++ b/dual_arm_panda_moveit_config/config/ompl_planning.yaml @@ -1,14 +1,15 @@ 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 -start_state_max_bounds_error: 0.1 +# To optionally use Ruckig for jerk-limited smoothing, add this line to the response adapters below +# - default_planning_request_adapters/AddRuckigTrajectorySmoothing +request_adapters: + - default_planning_request_adapters/ResolveConstraintFrames + - default_planning_request_adapters/ValidateWorkspaceBounds + - default_planning_request_adapters/CheckStartStateBounds + - default_planning_request_adapters/CheckStartStateCollision +response_adapters: + - default_planning_response_adapters/AddTimeOptimalParameterization + - default_planning_response_adapters/ValidateSolution + - default_planning_response_adapters/DisplayMotionPath planner_configs: SBLkConfigDefault: type: geometric::SBL diff --git a/fanuc_moveit_config/config/chomp_planning.yaml b/fanuc_moveit_config/config/chomp_planning.yaml index 6136a686..ab3eaee4 100644 --- a/fanuc_moveit_config/config/chomp_planning.yaml +++ b/fanuc_moveit_config/config/chomp_planning.yaml @@ -1,11 +1,13 @@ 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 -start_state_max_bounds_error: 0.1 +request_adapters: + - default_planning_request_adapters/ResolveConstraintFrames + - default_planning_request_adapters/ValidateWorkspaceBounds + - default_planning_request_adapters/CheckStartStateBounds + - default_planning_request_adapters/CheckStartStateCollision +response_adapters: + - default_planning_response_adapters/AddTimeOptimalParameterization + - default_planning_response_adapters/ValidateSolution + - default_planning_response_adapters/DisplayMotionPath planning_time_limit: 10.0 max_iterations: 200 max_iterations_after_collision_free: 5 diff --git a/fanuc_moveit_config/config/ompl_planning.yaml b/fanuc_moveit_config/config/ompl_planning.yaml index 9e50dd26..d6921e0e 100644 --- a/fanuc_moveit_config/config/ompl_planning.yaml +++ b/fanuc_moveit_config/config/ompl_planning.yaml @@ -1,14 +1,15 @@ 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 -start_state_max_bounds_error: 0.1 +# To optionally use Ruckig for jerk-limited smoothing, add this line to the response adapters below +# - default_planning_request_adapters/AddRuckigTrajectorySmoothing +request_adapters: + - default_planning_request_adapters/ResolveConstraintFrames + - default_planning_request_adapters/ValidateWorkspaceBounds + - default_planning_request_adapters/CheckStartStateBounds + - default_planning_request_adapters/CheckStartStateCollision +response_adapters: + - default_planning_response_adapters/AddTimeOptimalParameterization + - default_planning_response_adapters/ValidateSolution + - default_planning_response_adapters/DisplayMotionPath planner_configs: AnytimePathShortening: type: geometric::AnytimePathShortening diff --git a/panda_moveit_config/config/chomp_planning.yaml b/panda_moveit_config/config/chomp_planning.yaml index 306d33bb..c97a6d62 100644 --- a/panda_moveit_config/config/chomp_planning.yaml +++ b/panda_moveit_config/config/chomp_planning.yaml @@ -1,11 +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 -start_state_max_bounds_error: 0.1 +request_adapters: + - default_planning_request_adapters/ResolveConstraintFrames + - default_planning_request_adapters/ValidateWorkspaceBounds + - default_planning_request_adapters/CheckStartStateBounds + - default_planning_request_adapters/CheckStartStateCollision +response_adapters: + - default_planning_response_adapters/AddTimeOptimalParameterization planning_time_limit: 10.0 max_iterations: 200 max_iterations_after_collision_free: 5 diff --git a/panda_moveit_config/config/ompl_planning.yaml b/panda_moveit_config/config/ompl_planning.yaml index 98fe254f..78908bfa 100644 --- a/panda_moveit_config/config/ompl_planning.yaml +++ b/panda_moveit_config/config/ompl_planning.yaml @@ -1,14 +1,15 @@ 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 -start_state_max_bounds_error: 0.1 +# default_planning_request_adapters/AddRuckigTrajectorySmoothing +request_adapters: + - default_planning_request_adapters/ResolveConstraintFrames + - default_planning_request_adapters/ValidateWorkspaceBounds + - default_planning_request_adapters/CheckStartStateBounds + - default_planning_request_adapters/CheckStartStateCollision +response_adapters: + - default_planning_response_adapters/AddTimeOptimalParameterization + - default_planning_response_adapters/ValidateSolution + - default_planning_response_adapters/DisplayMotionPath planner_configs: APSConfigDefault: type: geometric::AnytimePathShortening diff --git a/panda_moveit_config/config/pilz_industrial_motion_planner_planning.yaml b/panda_moveit_config/config/pilz_industrial_motion_planner_planning.yaml index 6402ab93..c19ef21f 100644 --- a/panda_moveit_config/config/pilz_industrial_motion_planner_planning.yaml +++ b/panda_moveit_config/config/pilz_industrial_motion_planner_planning.yaml @@ -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_planning_request_adapters/ValidateWorkspaceBounds + - default_planning_request_adapters/CheckStartStateBounds + - default_planning_request_adapters/CheckStartStateCollision + default_planner_config: PTP capabilities: >- pilz_industrial_motion_planner/MoveGroupSequenceAction diff --git a/panda_moveit_config/config/stomp_planning.yaml b/panda_moveit_config/config/stomp_planning.yaml index a6fe92f1..a792c81d 100644 --- a/panda_moveit_config/config/stomp_planning.yaml +++ b/panda_moveit_config/config/stomp_planning.yaml @@ -1,10 +1,13 @@ 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_planning_request_adapters/ResolveConstraintFrames + - default_planning_request_adapters/ValidateWorkspaceBounds + - default_planning_request_adapters/CheckStartStateBounds + - default_planning_request_adapters/CheckStartStateCollision +response_adapters: + - default_planning_response_adapters/AddTimeOptimalParameterization + - default_planning_response_adapters/ValidateSolution + - default_planning_response_adapters/DisplayMotionPath stomp_moveit: num_timesteps: 60