diff --git a/dual_arm_panda_moveit_config/config/ompl_planning.yaml b/dual_arm_panda_moveit_config/config/ompl_planning.yaml index b01771b..2075c30 100644 --- a/dual_arm_panda_moveit_config/config/ompl_planning.yaml +++ b/dual_arm_panda_moveit_config/config/ompl_planning.yaml @@ -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: diff --git a/fanuc_moveit_config/config/chomp_planning.yaml b/fanuc_moveit_config/config/chomp_planning.yaml index 6136a68..8d257fe 100644 --- a/fanuc_moveit_config/config/chomp_planning.yaml +++ b/fanuc_moveit_config/config/chomp_planning.yaml @@ -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 diff --git a/fanuc_moveit_config/config/ompl_planning.yaml b/fanuc_moveit_config/config/ompl_planning.yaml index 9e50dd2..a3429e4 100644 --- a/fanuc_moveit_config/config/ompl_planning.yaml +++ b/fanuc_moveit_config/config/ompl_planning.yaml @@ -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: diff --git a/panda_moveit_config/config/chomp_planning.yaml b/panda_moveit_config/config/chomp_planning.yaml index 306d33b..9f68174 100644 --- a/panda_moveit_config/config/chomp_planning.yaml +++ b/panda_moveit_config/config/chomp_planning.yaml @@ -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 diff --git a/panda_moveit_config/config/ompl_planning.yaml b/panda_moveit_config/config/ompl_planning.yaml index 98fe254..e1c3af6 100644 --- a/panda_moveit_config/config/ompl_planning.yaml +++ b/panda_moveit_config/config/ompl_planning.yaml @@ -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: 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 6402ab9..cd21c6e 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_planner_request_adapters/FixWorkspaceBounds + - default_planner_request_adapters/FixStartStateBounds + - default_planner_request_adapters/FixStartStateCollision + 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 a6fe92f..c354104 100644 --- a/panda_moveit_config/config/stomp_planning.yaml +++ b/panda_moveit_config/config/stomp_planning.yaml @@ -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