diff --git a/pr2_moveit_config/.setup_assistant b/pr2_moveit_config/.setup_assistant
index b2b0946..5e59260 100644
--- a/pr2_moveit_config/.setup_assistant
+++ b/pr2_moveit_config/.setup_assistant
@@ -2,7 +2,10 @@ moveit_setup_assistant_config:
URDF:
package: pr2_description
relative_path: robots/pr2.urdf.xacro
+ xacro_args: ""
SRDF:
relative_path: config/pr2.srdf
CONFIG:
- generated_timestamp: 1364768330
\ No newline at end of file
+ author_name: MoveIt Setup Assistant
+ author_email: assistant@moveit.ros.org
+ generated_timestamp: 1590536702
\ No newline at end of file
diff --git a/pr2_moveit_config/config/ompl_planning.yaml b/pr2_moveit_config/config/ompl_planning.yaml
index a281f54..3238e2f 100644
--- a/pr2_moveit_config/config/ompl_planning.yaml
+++ b/pr2_moveit_config/config/ompl_planning.yaml
@@ -1,133 +1,467 @@
-## the planner configurations; each config must have a type, which specifies
-## the planner to be used; other parameters can be specified as well, depending
-## on the planner
-
-constraint_approximations_path: ~/constraints_approximation_database
-
+planner_configs:
+ AnytimePathShortening:
+ type: geometric::AnytimePathShortening
+ shortcut: true # Attempt to shortcut all new solution paths
+ hybridize: true # Compute hybrid solution trajectories
+ max_hybrid_paths: 24 # Number of hybrid paths generated per iteration
+ num_planners: 4 # The number of default planners to use for planning
+ SBL:
+ type: geometric::SBL
+ range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+ EST:
+ 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
+ LBKPIECE:
+ 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
+ BKPIECE:
+ 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
+ KPIECE:
+ 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
+ RRT:
+ 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
+ RRTConnect:
+ type: geometric::RRTConnect
+ range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+ RRTstar:
+ 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
+ TRRT:
+ 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()
+ PRM:
+ type: geometric::PRM
+ max_nearest_neighbors: 10 # use k nearest neighbors. default: 10
+ PRMstar:
+ type: geometric::PRMstar
+ FMT:
+ 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
+ BFMT:
+ 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
+ PDST:
+ type: geometric::PDST
+ STRIDE:
+ 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
+ BiTRRT:
+ 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
+ LBTRRT:
+ 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
+ BiEST:
+ type: geometric::BiEST
+ range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+ ProjEST:
+ 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
+ LazyPRM:
+ type: geometric::LazyPRM
+ range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+ LazyPRMstar:
+ type: geometric::LazyPRMstar
+ SPARS:
+ 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
+ SPARStwo:
+ 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
+base:
+ default_planner_config: ""
+ planner_configs:
+ - AnytimePathShortening
+ - SBL
+ - EST
+ - LBKPIECE
+ - BKPIECE
+ - KPIECE
+ - RRT
+ - RRTConnect
+ - RRTstar
+ - TRRT
+ - PRM
+ - PRMstar
+ - FMT
+ - BFMT
+ - PDST
+ - STRIDE
+ - BiTRRT
+ - LBTRRT
+ - BiEST
+ - ProjEST
+ - LazyPRM
+ - LazyPRMstar
+ - SPARS
+ - SPARStwo
+left_arm:
+ default_planner_config: ""
+ planner_configs:
+ - AnytimePathShortening
+ - SBL
+ - EST
+ - LBKPIECE
+ - BKPIECE
+ - KPIECE
+ - RRT
+ - RRTConnect
+ - RRTstar
+ - TRRT
+ - PRM
+ - PRMstar
+ - FMT
+ - BFMT
+ - PDST
+ - STRIDE
+ - BiTRRT
+ - LBTRRT
+ - BiEST
+ - ProjEST
+ - LazyPRM
+ - LazyPRMstar
+ - SPARS
+ - SPARStwo
+ projection_evaluator: joints(l_shoulder_pan_joint,l_shoulder_lift_joint)
+ longest_valid_segment_fraction: 0.005
+left_arm_and_torso:
+ default_planner_config: ""
+ planner_configs:
+ - AnytimePathShortening
+ - SBL
+ - EST
+ - LBKPIECE
+ - BKPIECE
+ - KPIECE
+ - RRT
+ - RRTConnect
+ - RRTstar
+ - TRRT
+ - PRM
+ - PRMstar
+ - FMT
+ - BFMT
+ - PDST
+ - STRIDE
+ - BiTRRT
+ - LBTRRT
+ - BiEST
+ - ProjEST
+ - LazyPRM
+ - LazyPRMstar
+ - SPARS
+ - SPARStwo
+ projection_evaluator: joints(l_shoulder_pan_joint,l_shoulder_lift_joint)
+ longest_valid_segment_fraction: 0.005
right_arm:
+ default_planner_config: ""
planner_configs:
- - PRMkConfigDefault
- - SBLkConfigDefault
- - LBKPIECEkConfigDefault
- - RRTkConfigDefault
- - TRRTkConfigDefault
- - RRTConnectkConfigDefault
- - ESTkConfigDefault
- - KPIECEkConfigDefault
- - BKPIECEkConfigDefault
- - RRTStarkConfigDefault
+ - AnytimePathShortening
+ - SBL
+ - EST
+ - LBKPIECE
+ - BKPIECE
+ - KPIECE
+ - RRT
+ - RRTConnect
+ - RRTstar
+ - TRRT
+ - PRM
+ - PRMstar
+ - FMT
+ - BFMT
+ - PDST
+ - STRIDE
+ - BiTRRT
+ - LBTRRT
+ - BiEST
+ - ProjEST
+ - LazyPRM
+ - LazyPRMstar
+ - SPARS
+ - SPARStwo
projection_evaluator: link(r_wrist_roll_link)
- longest_valid_segment_fraction: 0.05
-
+ longest_valid_segment_fraction: 0.005
right_arm_and_torso:
+ default_planner_config: ""
planner_configs:
- - SBLkConfigDefault
- - LBKPIECEkConfigDefault
- - RRTkConfigDefault
- - TRRTkConfigDefault
- - RRTConnectkConfigDefault
- - ESTkConfigDefault
- - KPIECEkConfigDefault
- - BKPIECEkConfigDefault
- - RRTStarkConfigDefault
+ - AnytimePathShortening
+ - SBL
+ - EST
+ - LBKPIECE
+ - BKPIECE
+ - KPIECE
+ - RRT
+ - RRTConnect
+ - RRTstar
+ - TRRT
+ - PRM
+ - PRMstar
+ - FMT
+ - BFMT
+ - PDST
+ - STRIDE
+ - BiTRRT
+ - LBTRRT
+ - BiEST
+ - ProjEST
+ - LazyPRM
+ - LazyPRMstar
+ - SPARS
+ - SPARStwo
projection_evaluator: joints(r_shoulder_pan_joint,r_shoulder_lift_joint)
- longest_valid_segment_fraction: 0.05
-
-left_arm:
- planner_configs:
- - SBLkConfigDefault
- - LBKPIECEkConfigDefault
- - RRTkConfigDefault
- - TRRTkConfigDefault
- - RRTConnectkConfigDefault
- - ESTkConfigDefault
- - KPIECEkConfigDefault
- - BKPIECEkConfigDefault
- - RRTStarkConfigDefault
- projection_evaluator: joints(l_shoulder_pan_joint,l_shoulder_lift_joint)
- longest_valid_segment_fraction: 0.05
-
-left_arm_and_torso:
- planner_configs:
- - SBLkConfigDefault
- - LBKPIECEkConfigDefault
- - RRTkConfigDefault
- - TRRTkConfigDefault
- - RRTConnectkConfigDefault
- - ESTkConfigDefault
- - KPIECEkConfigDefault
- - BKPIECEkConfigDefault
- - RRTStarkConfigDefault
- projection_evaluator: joints(l_shoulder_pan_joint,l_shoulder_lift_joint)
- longest_valid_segment_fraction: 0.05
-
+ longest_valid_segment_fraction: 0.005
arms:
+ default_planner_config: ""
planner_configs:
- - SBLkConfigDefault
- - LBKPIECEkConfigDefault
- - RRTkConfigDefault
- - TRRTkConfigDefault
- - RRTConnectkConfigDefault
- - ESTkConfigDefault
- - KPIECEkConfigDefault
- - BKPIECEkConfigDefault
- - RRTStarkConfigDefault
- longest_valid_segment_fraction: 0.05
+ - AnytimePathShortening
+ - SBL
+ - EST
+ - LBKPIECE
+ - BKPIECE
+ - KPIECE
+ - RRT
+ - RRTConnect
+ - RRTstar
+ - TRRT
+ - PRM
+ - PRMstar
+ - FMT
+ - BFMT
+ - PDST
+ - STRIDE
+ - BiTRRT
+ - LBTRRT
+ - BiEST
+ - ProjEST
+ - LazyPRM
+ - LazyPRMstar
+ - SPARS
+ - SPARStwo
projection_evaluator: joints(r_shoulder_pan_joint,l_shoulder_pan_joint)
-
+ longest_valid_segment_fraction: 0.005
+head:
+ default_planner_config: ""
+ planner_configs:
+ - AnytimePathShortening
+ - SBL
+ - EST
+ - LBKPIECE
+ - BKPIECE
+ - KPIECE
+ - RRT
+ - RRTConnect
+ - RRTstar
+ - TRRT
+ - PRM
+ - PRMstar
+ - FMT
+ - BFMT
+ - PDST
+ - STRIDE
+ - BiTRRT
+ - LBTRRT
+ - BiEST
+ - ProjEST
+ - LazyPRM
+ - LazyPRMstar
+ - SPARS
+ - SPARStwo
+ projection_evaluator: joints(head_pan_joint,head_tilt_joint)
+ longest_valid_segment_fraction: 0.005
+torso:
+ default_planner_config: ""
+ planner_configs:
+ - AnytimePathShortening
+ - SBL
+ - EST
+ - LBKPIECE
+ - BKPIECE
+ - KPIECE
+ - RRT
+ - RRTConnect
+ - RRTstar
+ - TRRT
+ - PRM
+ - PRMstar
+ - FMT
+ - BFMT
+ - PDST
+ - STRIDE
+ - BiTRRT
+ - LBTRRT
+ - BiEST
+ - ProjEST
+ - LazyPRM
+ - LazyPRMstar
+ - SPARS
+ - SPARStwo
+arms_and_torso:
+ default_planner_config: ""
+ planner_configs:
+ - AnytimePathShortening
+ - SBL
+ - EST
+ - LBKPIECE
+ - BKPIECE
+ - KPIECE
+ - RRT
+ - RRTConnect
+ - RRTstar
+ - TRRT
+ - PRM
+ - PRMstar
+ - FMT
+ - BFMT
+ - PDST
+ - STRIDE
+ - BiTRRT
+ - LBTRRT
+ - BiEST
+ - ProjEST
+ - LazyPRM
+ - LazyPRMstar
+ - SPARS
+ - SPARStwo
+ projection_evaluator: joints(torso_lift_joint,l_shoulder_pan_joint)
+ longest_valid_segment_fraction: 0.005
whole_body:
+ default_planner_config: ""
planner_configs:
- - SBLkConfigDefault
- - LBKPIECEkConfigDefault
- - RRTkConfigDefault
- - TRRTkConfigDefault
- - RRTConnectkConfigDefault
- - ESTkConfigDefault
- - KPIECEkConfigDefault
- - BKPIECEkConfigDefault
- - RRTStarkConfigDefault
- longest_valid_segment_fraction: 0.05
projection_evaluator: joints(r_shoulder_pan_joint,l_shoulder_pan_joint)
-
-
-planner_configs:
-
- PRMkConfigDefault:
- type: geometric::PRM
-
- SBLkConfigDefault:
- type: geometric::SBL
- range: 100000000
-
- LBKPIECEkConfigDefault:
- type: geometric::LBKPIECE
- range: 100000000
-
- RRTkConfigDefault:
- type: geometric::RRT
- range: 100000000
-
- TRRTkConfigDefault:
- type: geometric::TRRT
-
- RRTConnectkConfigDefault:
- type: geometric::RRTConnect
- range: 100000000
-
- LazyRRTkConfigDefault:
- type: geometric::LazyRRT
-
- ESTkConfigDefault:
- type: geometric::EST
- range: 100000000
-
- KPIECEkConfigDefault:
- type: geometric::KPIECE
- range: 100000000
-
- RRTStarkConfigDefault:
- type: geometric::RRTstar
-
- BKPIECEkConfigDefault:
- type: geometric::BKPIECE
- range: 100000000
+ - AnytimePathShortening
+ - SBL
+ - EST
+ - LBKPIECE
+ - BKPIECE
+ - KPIECE
+ - RRT
+ - RRTConnect
+ - RRTstar
+ - TRRT
+ - PRM
+ - PRMstar
+ - FMT
+ - BFMT
+ - PDST
+ - STRIDE
+ - BiTRRT
+ - LBTRRT
+ - BiEST
+ - ProjEST
+ - LazyPRM
+ - LazyPRMstar
+ - SPARS
+ - SPARStwo
+right_gripper:
+ default_planner_config: ""
+ planner_configs:
+ - AnytimePathShortening
+ - SBL
+ - EST
+ - LBKPIECE
+ - BKPIECE
+ - KPIECE
+ - RRT
+ - RRTConnect
+ - RRTstar
+ - TRRT
+ - PRM
+ - PRMstar
+ - FMT
+ - BFMT
+ - PDST
+ - STRIDE
+ - BiTRRT
+ - LBTRRT
+ - BiEST
+ - ProjEST
+ - LazyPRM
+ - LazyPRMstar
+ - SPARS
+ - SPARStwo
+left_gripper:
+ default_planner_config: ""
+ planner_configs:
+ - AnytimePathShortening
+ - SBL
+ - EST
+ - LBKPIECE
+ - BKPIECE
+ - KPIECE
+ - RRT
+ - RRTConnect
+ - RRTstar
+ - TRRT
+ - PRM
+ - PRMstar
+ - FMT
+ - BFMT
+ - PDST
+ - STRIDE
+ - BiTRRT
+ - LBTRRT
+ - BiEST
+ - ProjEST
+ - LazyPRM
+ - LazyPRMstar
+ - SPARS
+ - SPARStwo
diff --git a/pr2_moveit_config/launch/setup_assistant.launch b/pr2_moveit_config/launch/setup_assistant.launch
index 371a28a..637e00a 100644
--- a/pr2_moveit_config/launch/setup_assistant.launch
+++ b/pr2_moveit_config/launch/setup_assistant.launch
@@ -7,7 +7,7 @@
-