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| Original file line number | Diff line number | Diff line change |
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| 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 | ||
| planning_time_limit: 10.0 | ||
| max_iterations: 200 | ||
| max_iterations_after_collision_free: 5 | ||
| smoothness_cost_weight: 0.1 | ||
| obstacle_cost_weight: 1.0 | ||
| learning_rate: 0.01 | ||
| animate_path: true | ||
| add_randomness: false | ||
| smoothness_cost_velocity: 0.0 | ||
| smoothness_cost_acceleration: 1.0 | ||
| smoothness_cost_jerk: 0.0 | ||
| hmc_discretization: 0.01 | ||
| hmc_stochasticity: 0.01 | ||
| hmc_annealing_factor: 0.99 | ||
| use_hamiltonian_monte_carlo: false | ||
| ridge_factor: 0.0 | ||
| use_pseudo_inverse: false | ||
| pseudo_inverse_ridge_factor: 1e-4 | ||
| animate_endeffector: false | ||
| joint_update_limit: 0.1 | ||
| collision_clearance: 0.2 | ||
| collision_threshold: 0.07 | ||
| random_jump_amount: 1.0 | ||
| use_stochastic_descent: true | ||
| enable_failure_recovery: false | ||
| max_recovery_attempts: 5 | ||
| trajectory_initialization_method: "quintic-spline" |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,170 @@ | ||
| 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 | ||
| planner_configs: | ||
| APSConfigDefault: | ||
| type: geometric::AnytimePathShortening | ||
| shortcut: 1 # Attempt to shortcut all new solution paths | ||
| hybridize: 1 # Compute hybrid solution trajectories | ||
| max_hybrid_paths: 36 # Number of hybrid paths generated per iteration | ||
| num_planners: 8 # The number of default planners to use for planning | ||
| planners: "RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect" # A comma-separated list of planner types (e.g., "PRM,EST,RRTConnect"Optionally, planner parameters can be passed to change the default:"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]" | ||
| SBLkConfigDefault: | ||
| type: geometric::SBL | ||
| range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() | ||
| ESTkConfigDefault: | ||
| type: geometric::EST | ||
| range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() | ||
| goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 | ||
| LBKPIECEkConfigDefault: | ||
| type: geometric::LBKPIECE | ||
| range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() | ||
| border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 | ||
| min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 | ||
| BKPIECEkConfigDefault: | ||
| type: geometric::BKPIECE | ||
| range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() | ||
| border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 | ||
| failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 | ||
| min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 | ||
| KPIECEkConfigDefault: | ||
| type: geometric::KPIECE | ||
| range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() | ||
| goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 | ||
| border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] | ||
| failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 | ||
| min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 | ||
| RRTkConfigDefault: | ||
| type: geometric::RRT | ||
| range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() | ||
| goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 | ||
| RRTConnectkConfigDefault: | ||
| type: geometric::RRTConnect | ||
| range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() | ||
| RRTstarkConfigDefault: | ||
| type: geometric::RRTstar | ||
| range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() | ||
| goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 | ||
| delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 | ||
| TRRTkConfigDefault: | ||
| type: geometric::TRRT | ||
| range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() | ||
| goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 | ||
| max_states_failed: 10 # when to start increasing temp. default: 10 | ||
| temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 | ||
| min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 | ||
| init_temperature: 10e-6 # initial temperature. default: 10e-6 | ||
| frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() | ||
| frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 | ||
| k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() | ||
| PRMkConfigDefault: | ||
| type: geometric::PRM | ||
| max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 | ||
| PRMstarkConfigDefault: | ||
| type: geometric::PRMstar | ||
| FMTkConfigDefault: | ||
| type: geometric::FMT | ||
| num_samples: 1000 # number of states that the planner should sample. default: 1000 | ||
| radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1 | ||
| nearest_k: 1 # use Knearest strategy. default: 1 | ||
| cache_cc: 1 # use collision checking cache. default: 1 | ||
| heuristics: 0 # activate cost to go heuristics. default: 0 | ||
| extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1 | ||
| BFMTkConfigDefault: | ||
| type: geometric::BFMT | ||
| num_samples: 1000 # number of states that the planner should sample. default: 1000 | ||
| radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0 | ||
| nearest_k: 1 # use the Knearest strategy. default: 1 | ||
| balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1 | ||
| optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1 | ||
| heuristics: 1 # activates cost to go heuristics. default: 1 | ||
| cache_cc: 1 # use the collision checking cache. default: 1 | ||
| extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1 | ||
| PDSTkConfigDefault: | ||
| type: geometric::PDST | ||
| STRIDEkConfigDefault: | ||
| type: geometric::STRIDE | ||
| range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() | ||
| goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 | ||
| use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0 | ||
| degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16 | ||
| max_degree: 18 # max degree of a node in the GNAT. default: 12 | ||
| min_degree: 12 # min degree of a node in the GNAT. default: 12 | ||
| max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6 | ||
| estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0 | ||
| min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2 | ||
| BiTRRTkConfigDefault: | ||
| type: geometric::BiTRRT | ||
| range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() | ||
| temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1 | ||
| init_temperature: 100 # initial temperature. default: 100 | ||
| frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() | ||
| frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 | ||
| cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf | ||
| LBTRRTkConfigDefault: | ||
| type: geometric::LBTRRT | ||
| range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() | ||
| goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 | ||
| epsilon: 0.4 # optimality approximation factor. default: 0.4 | ||
| BiESTkConfigDefault: | ||
| type: geometric::BiEST | ||
| range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() | ||
| ProjESTkConfigDefault: | ||
| type: geometric::ProjEST | ||
| range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() | ||
| goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 | ||
| LazyPRMkConfigDefault: | ||
| type: geometric::LazyPRM | ||
| range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() | ||
| LazyPRMstarkConfigDefault: | ||
| type: geometric::LazyPRMstar | ||
| SPARSkConfigDefault: | ||
| type: geometric::SPARS | ||
| stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 | ||
| sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 | ||
| dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 | ||
| max_failures: 1000 # maximum consecutive failure limit. default: 1000 | ||
| SPARStwokConfigDefault: | ||
| type: geometric::SPARStwo | ||
| stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 | ||
| sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 | ||
| dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 | ||
| max_failures: 5000 # maximum consecutive failure limit. default: 5000 | ||
| TrajOptDefault: | ||
| type: geometric::TrajOpt | ||
|
|
||
| lbr_iisy_arm: | ||
| planner_configs: | ||
| - APSConfigDefault | ||
| - SBLkConfigDefault | ||
| - ESTkConfigDefault | ||
| - LBKPIECEkConfigDefault | ||
| - BKPIECEkConfigDefault | ||
| - KPIECEkConfigDefault | ||
| - RRTkConfigDefault | ||
| - RRTConnectkConfigDefault | ||
| - RRTstarkConfigDefault | ||
| - TRRTkConfigDefault | ||
| - PRMkConfigDefault | ||
| - PRMstarkConfigDefault | ||
| - FMTkConfigDefault | ||
| - BFMTkConfigDefault | ||
| - PDSTkConfigDefault | ||
| - STRIDEkConfigDefault | ||
| - BiTRRTkConfigDefault | ||
| - LBTRRTkConfigDefault | ||
| - BiESTkConfigDefault | ||
| - ProjESTkConfigDefault | ||
| - LazyPRMkConfigDefault | ||
| - LazyPRMstarkConfigDefault | ||
| - SPARSkConfigDefault | ||
| - SPARStwokConfigDefault | ||
| - TrajOptDefault |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,17 @@ | ||
| 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 | ||
| stomp_moveit: | ||
| num_timesteps: 60 | ||
| num_iterations: 40 | ||
| num_iterations_after_valid: 0 | ||
| num_rollouts: 30 | ||
| max_rollouts: 30 | ||
| exponentiated_cost_sensitivity: 0.5 | ||
| control_cost_weight: 0.1 | ||
| delta_t: 0.1 |