├── config
    ├── ros_controllers.yaml
    ├── lerp_planning.yaml
    ├── cartesian_limits.yaml
    ├── gazebo_controllers.yaml
    ├── kinematics.yaml
    ├── sensors_kinect_pointcloud.yaml
    ├── sensors_kinect_depthmap.yaml
    ├── chomp_planning.yaml
    ├── simple_moveit_controllers.yaml
    ├── fake_controllers.yaml
    ├── stomp_planning.yaml
    ├── panda.srdf.xacro
    ├── joint_limits.yaml
    ├── hand.xacro
    ├── trajopt_planning.yaml
    ├── arm.xacro
    └── ompl_planning.yaml
├── launch
    ├── panda_moveit_sensor_manager.launch.xml
    ├── demo_lerp.launch
    ├── demo_chomp.launch
    ├── demo_stomp.launch
    ├── ros_control_moveit_controller_manager.launch.xml
    ├── simple_moveit_controller_manager.launch.xml
    ├── planning_pipeline.launch.xml
    ├── ros_controllers.launch
    ├── warehouse.launch
    ├── fake_moveit_controller_manager.launch.xml
    ├── setup_assistant.launch
    ├── joystick_control.launch
    ├── warehouse_settings.launch.xml
    ├── default_warehouse_db.launch
    ├── pilz_industrial_motion_planner_planning_pipeline.launch.xml
    ├── run_benchmark_ompl.launch
    ├── moveit_rviz.launch
    ├── franka_control.launch
    ├── run_benchmark_trajopt.launch
    ├── ompl_chomp_planning_pipeline.launch.xml
    ├── sensor_manager.launch.xml
    ├── lerp_planning_pipeline.launch.xml
    ├── chomp_planning_pipeline.launch.xml
    ├── demo_gazebo.launch
    ├── ompl_planning_pipeline.launch.xml
    ├── planning_context.launch
    ├── trajectory_execution.launch.xml
    ├── trajopt_planning_pipeline.launch.xml
    ├── stomp_planning_pipeline.launch.xml
    ├── demo.launch
    ├── moveit_empty.rviz
    ├── moveit.rviz
    ├── moveit_scene.rviz
    └── move_group.launch
├── README.md
├── CMakeLists.txt
├── .setup_assistant
├── CHANGELOG.rst
└── package.xml


/config/ros_controllers.yaml:
--------------------------------------------------------------------------------
1 | 


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/config/lerp_planning.yaml:
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1 | num_steps: 40
2 | 


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/launch/panda_moveit_sensor_manager.launch.xml:
--------------------------------------------------------------------------------
1 | <launch>
2 | 
3 | </launch>
4 | 


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/config/cartesian_limits.yaml:
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1 | cartesian_limits:
2 |   max_trans_vel: 1
3 |   max_trans_acc: 2.25
4 |   max_trans_dec: -5
5 |   max_rot_vel: 1.57
6 | 


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/launch/demo_lerp.launch:
--------------------------------------------------------------------------------
1 | 
2 | <launch>
3 |   <include file="$(dirname)/demo.launch">
4 |     <arg name="pipeline" value="lerp"/>
5 |   </include>
6 | </launch>


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/launch/demo_chomp.launch:
--------------------------------------------------------------------------------
1 | <launch>
2 |   <include file="$(dirname)/demo.launch">
3 |     <arg name="pipeline" value="chomp"/>
4 |   </include>
5 | </launch>
6 | 


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/launch/demo_stomp.launch:
--------------------------------------------------------------------------------
1 | <launch>
2 |   <include file="$(dirname)/demo.launch">
3 |     <arg name="pipeline" value="stomp"/>
4 |   </include>
5 | </launch>
6 | 


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/config/gazebo_controllers.yaml:
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1 | # Publish joint_states
2 | joint_state_controller:
3 |   type: joint_state_controller/JointStateController
4 |   publish_rate: 50
5 | 


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/launch/ros_control_moveit_controller_manager.launch.xml:
--------------------------------------------------------------------------------
1 | <launch>
2 | 	<!-- Define MoveIt controller manager plugin -->
3 | 	<param name="moveit_controller_manager" value="moveit_ros_control_interface::MoveItControllerManager" />
4 | </launch>
5 | 


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/config/kinematics.yaml:
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1 | $(arg arm_id)_arm: &arm_config
2 |   kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
3 |   kinematics_solver_search_resolution: 0.005
4 |   kinematics_solver_timeout: 0.05
5 | 
6 | $(arg arm_id)_manipulator: *arm_config
7 | 


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/README.md:
--------------------------------------------------------------------------------
1 | # Franka Emika Panda MoveIt Config Package
2 | 
3 | The Panda robot is the flagship MoveIt integration robot used in the MoveIt tutorials.
4 | Any changes to MoveIt need to be propagated into this config fast, so this package
5 | is co-located under the ``ros-planning`` Github organization here.
6 | 


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/CMakeLists.txt:
--------------------------------------------------------------------------------
 1 | cmake_minimum_required(VERSION 3.10)
 2 | project(panda_moveit_config)
 3 | 
 4 | find_package(catkin REQUIRED)
 5 | 
 6 | catkin_package()
 7 | 
 8 | install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 9 |   PATTERN "setup_assistant.launch" EXCLUDE)
10 | install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
11 | 


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/config/sensors_kinect_pointcloud.yaml:
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 1 | sensors:
 2 |   - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
 3 |     point_cloud_topic: /camera/depth_registered/points
 4 |     max_range: 5.0
 5 |     point_subsample: 1
 6 |     padding_offset: 0.1
 7 |     padding_scale: 1.0
 8 |     max_update_rate: 1.0
 9 |     filtered_cloud_topic: filtered_cloud
10 |     ns: kinect
11 | 


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/.setup_assistant:
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 1 | moveit_setup_assistant_config:
 2 |   URDF:
 3 |     package: franka_description
 4 |     relative_path: robots/panda/panda.urdf.xacro
 5 |     xacro_args: hand:=true
 6 |   SRDF:
 7 |     relative_path: config/panda.srdf.xacro
 8 |   CONFIG:
 9 |     author_name: MoveIt maintainer team
10 |     author_email: moveit_releasers@googlegroups.com
11 |     generated_timestamp: 1636310680
12 | 


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/launch/simple_moveit_controller_manager.launch.xml:
--------------------------------------------------------------------------------
1 | <launch>
2 |   <!-- Define the MoveIt controller manager plugin to use for trajectory execution -->
3 |   <param name="moveit_controller_manager" value="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
4 | 
5 |   <!-- Load controller list to the parameter server -->
6 |   <rosparam subst_value="true" file="$(find panda_moveit_config)/config/simple_moveit_controllers.yaml" />
7 | </launch>
8 | 


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/config/sensors_kinect_depthmap.yaml:
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 1 | sensors:
 2 |   - sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater
 3 |     image_topic: /camera/depth_registered/image_raw
 4 |     queue_size: 5
 5 |     near_clipping_plane_distance: 0.3
 6 |     far_clipping_plane_distance: 5.0
 7 |     shadow_threshold: 0.2
 8 |     padding_scale: 4.0
 9 |     padding_offset: 0.03
10 |     max_update_rate: 1.0
11 |     filtered_cloud_topic: filtered_cloud
12 |     ns: kinect
13 | 


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/launch/planning_pipeline.launch.xml:
--------------------------------------------------------------------------------
 1 | <launch>
 2 | 
 3 |   <!-- This file makes it easy to include different planning pipelines;
 4 |        It is assumed that all planning pipelines are named XXX_planning_pipeline.launch  -->
 5 | 
 6 |   <arg name="pipeline" default="ompl" />
 7 |   <arg name="arm_id" default="panda" />
 8 | 
 9 |   <include ns="$(arg pipeline)" file="$(dirname)/$(arg pipeline)_planning_pipeline.launch.xml" pass_all_args="true"/>
10 | 
11 | </launch>
12 | 


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/launch/ros_controllers.launch:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <launch>
 3 | 
 4 |   <!-- Load joint controller configurations from YAML file to parameter server -->
 5 |   <rosparam file="$(find panda_moveit_config)/config/ros_controllers.yaml" command="load"  subst_value="true"/>
 6 | 
 7 |   <!-- Load and start the controllers -->
 8 |   <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"
 9 |         args="$(arg transmission)_joint_trajectory_controller" />
10 | </launch>
11 | 


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/launch/warehouse.launch:
--------------------------------------------------------------------------------
 1 | <launch>
 2 | 
 3 |   <!-- The path to the database must be specified -->
 4 |   <arg name="moveit_warehouse_database_path" />
 5 | 
 6 |   <!-- Load warehouse parameters -->
 7 |   <include file="$(dirname)/warehouse_settings.launch.xml" />
 8 | 
 9 |   <!-- Run the DB server -->
10 |   <node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo">
11 |     <param name="overwrite" value="false"/>
12 |     <param name="database_path" value="$(arg moveit_warehouse_database_path)" />
13 |   </node>
14 | 
15 | </launch>
16 | 


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/config/chomp_planning.yaml:
--------------------------------------------------------------------------------
 1 | planning_time_limit: 10.0
 2 | max_iterations: 200
 3 | max_iterations_after_collision_free: 5
 4 | smoothness_cost_weight: 0.1
 5 | obstacle_cost_weight: 1.0
 6 | learning_rate: 0.01
 7 | smoothness_cost_velocity: 0.0
 8 | smoothness_cost_acceleration: 1.0
 9 | smoothness_cost_jerk: 0.0
10 | ridge_factor: 0.0
11 | use_pseudo_inverse: false
12 | pseudo_inverse_ridge_factor: 1e-4
13 | joint_update_limit: 0.1
14 | collision_clearance: 0.2
15 | collision_threshold: 0.07
16 | use_stochastic_descent: true
17 | enable_failure_recovery: false
18 | max_recovery_attempts: 5
19 | 


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/config/simple_moveit_controllers.yaml:
--------------------------------------------------------------------------------
 1 | controller_list:
 2 |   - name: $(arg transmission)_joint_trajectory_controller
 3 |     action_ns: follow_joint_trajectory
 4 |     type: FollowJointTrajectory
 5 |     default: True
 6 |     joints:
 7 |       - $(arg arm_id)_joint1
 8 |       - $(arg arm_id)_joint2
 9 |       - $(arg arm_id)_joint3
10 |       - $(arg arm_id)_joint4
11 |       - $(arg arm_id)_joint5
12 |       - $(arg arm_id)_joint6
13 |       - $(arg arm_id)_joint7
14 |   - name: franka_gripper
15 |     action_ns: gripper_action
16 |     type: GripperCommand
17 |     default: True
18 |     joints:
19 |       - $(arg arm_id)_finger_joint1
20 | 


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/launch/fake_moveit_controller_manager.launch.xml:
--------------------------------------------------------------------------------
 1 | <launch>
 2 | 
 3 |   <!-- execute the trajectory in 'interpolate' mode or jump to goal position in 'last point' mode -->
 4 |   <arg name="fake_execution_type" default="interpolate" />
 5 | 
 6 |   <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
 7 |   <param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
 8 | 
 9 |   <!-- The rest of the params are specific to this plugin -->
10 |   <rosparam subst_value="true" file="$(find panda_moveit_config)/config/fake_controllers.yaml"/>
11 | 
12 | </launch>
13 | 


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/launch/setup_assistant.launch:
--------------------------------------------------------------------------------
 1 | <!-- Re-launch the MoveIt Setup Assistant with this configuration package already loaded -->
 2 | <launch>
 3 | 
 4 |   <!-- Debug Info -->
 5 |   <arg name="debug" default="false" />
 6 |   <arg unless="$(arg debug)" name="launch_prefix" value="" />
 7 |   <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
 8 | 
 9 |   <!-- Run -->
10 |   <node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant"
11 |         args="--config_pkg=panda_moveit_config"
12 |         launch-prefix="$(arg launch_prefix)"
13 |         required="true"
14 |         output="screen" />
15 | 
16 | </launch>
17 | 


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/config/fake_controllers.yaml:
--------------------------------------------------------------------------------
 1 | controller_list:
 2 |   - name: fake_$(arg arm_id)_arm_controller
 3 |     type: $(arg fake_execution_type)
 4 |     joints:
 5 |       - $(arg arm_id)_joint1
 6 |       - $(arg arm_id)_joint2
 7 |       - $(arg arm_id)_joint3
 8 |       - $(arg arm_id)_joint4
 9 |       - $(arg arm_id)_joint5
10 |       - $(arg arm_id)_joint6
11 |       - $(arg arm_id)_joint7
12 | 
13 |   - name: fake_$(arg arm_id)_hand_controller
14 |     type: $(arg fake_execution_type)
15 |     joints:
16 |       - $(arg arm_id)_finger_joint1
17 | 
18 | initial:  # Define initial robot poses per group
19 |   - group: $(arg arm_id)_arm
20 |     pose: ready
21 |   - group: $(arg arm_id)_hand
22 |     pose: open
23 | 


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/launch/joystick_control.launch:
--------------------------------------------------------------------------------
 1 | <launch>
 2 |   <!-- See moveit_ros/visualization/doc/joystick.rst for documentation -->
 3 | 
 4 |   <arg name="dev" default="/dev/input/js0" />
 5 | 
 6 |   <!-- Launch joy node -->
 7 |   <node pkg="joy" type="joy_node" name="joy">
 8 |     <param name="dev" value="$(arg dev)" /> <!-- Customize this to match the location your joystick is plugged in on-->
 9 |     <param name="deadzone" value="0.2" />
10 |     <param name="autorepeat_rate" value="40" />
11 |     <param name="coalesce_interval" value="0.025" />
12 |   </node>
13 | 
14 |   <!-- Launch python interface -->
15 |   <node pkg="moveit_ros_visualization" type="moveit_joy.py" output="screen" name="moveit_joy"/>
16 | 
17 | </launch>
18 | 


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/launch/warehouse_settings.launch.xml:
--------------------------------------------------------------------------------
 1 | <launch>
 2 |   <!-- Set the parameters for the warehouse and run the mongodb server. -->
 3 | 
 4 |   <!-- The default DB port for moveit (not default MongoDB port to avoid potential conflicts) -->
 5 |   <arg name="moveit_warehouse_port" default="33829" />
 6 | 
 7 |   <!-- The default DB host for moveit -->
 8 |   <arg name="moveit_warehouse_host" default="localhost" />
 9 | 
10 |   <!-- Set parameters for the warehouse -->
11 |   <param name="warehouse_port" value="$(arg moveit_warehouse_port)"/>
12 |   <param name="warehouse_host" value="$(arg moveit_warehouse_host)"/>
13 |   <param name="warehouse_exec" value="mongod" />
14 |   <param name="warehouse_plugin" value="warehouse_ros_mongo::MongoDatabaseConnection" />
15 | 
16 | </launch>
17 | 


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/launch/default_warehouse_db.launch:
--------------------------------------------------------------------------------
 1 | <launch>
 2 | 
 3 |   <arg name="reset" default="false"/>
 4 |   <!-- If not specified, we'll use a default database location -->
 5 |   <arg name="moveit_warehouse_database_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db" />
 6 | 
 7 |   <!-- Launch the warehouse with the configured database location -->
 8 |   <include file="$(dirname)/warehouse.launch">
 9 |     <arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" />
10 |   </include>
11 | 
12 |   <!-- If we want to reset the database, run this node -->
13 |   <node if="$(arg reset)" name="$(anon moveit_default_db_reset)" type="moveit_init_demo_warehouse" pkg="moveit_ros_warehouse" respawn="false" output="screen" />
14 | 
15 | </launch>
16 | 


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/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml:
--------------------------------------------------------------------------------
 1 | <launch>
 2 | 
 3 |   <!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
 4 |   <arg name="planning_adapters" default="" />
 5 | 
 6 |   <param name="planning_plugin" value="pilz_industrial_motion_planner::CommandPlanner" />
 7 |   <param name="request_adapters" value="$(arg planning_adapters)" />
 8 | 
 9 |   <!-- Define default planner (for all groups) -->
10 |   <param name="default_planner_config" value="PTP" />
11 | 
12 |   <!-- MoveGroup capabilities to load for this pipeline, append sequence capability -->
13 |   <param name="capabilities" value="pilz_industrial_motion_planner/MoveGroupSequenceAction
14 |                                     pilz_industrial_motion_planner/MoveGroupSequenceService" />
15 | </launch>
16 | 


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/launch/run_benchmark_ompl.launch:
--------------------------------------------------------------------------------
 1 | <launch>
 2 | 
 3 |   <!-- This argument must specify the list of .cfg files to process for benchmarking -->
 4 |   <arg name="cfg" />
 5 | 
 6 |   <!-- Load URDF -->
 7 |   <include file="$(dirname)/planning_context.launch">
 8 |     <arg name="load_robot_description" value="true"/>
 9 |   </include>
10 | 
11 |   <!-- Start the database -->
12 |   <include file="$(dirname)/warehouse.launch">
13 |     <arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/>
14 |   </include>
15 | 
16 |   <!-- Start Benchmark Executable -->
17 |   <node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" args="$(arg cfg) --benchmark-planners" respawn="false" output="screen">
18 |     <rosparam command="load" file="$(find panda_moveit_config)/config/ompl_planning.yaml"/>
19 |   </node>
20 | 
21 | </launch>
22 | 


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/launch/moveit_rviz.launch:
--------------------------------------------------------------------------------
 1 | <launch>
 2 | 
 3 |   <arg name="debug" default="false" />
 4 |   <arg unless="$(arg debug)" name="launch_prefix" value="" />
 5 |   <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
 6 | 
 7 |   <!--Retrieve the right rviz config file-->
 8 |   <arg name="rviz_tutorial" default="false" />
 9 |   <arg name="rviz_config" default="$(dirname)/moveit.rviz" />
10 | 
11 |   <arg if="$(eval rviz_config=='')" name="command_args" value="" />
12 |   <arg if="$(eval rviz_config!='' and not rviz_tutorial)" name="command_args" value="-d $(arg rviz_config)" />
13 |   <arg if="$(eval rviz_tutorial)" name="command_args" value="-d $(dirname)/moveit_empty.rviz" />
14 | 
15 |   <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
16 |         args="$(arg command_args)" output="screen">
17 |   </node>
18 | 
19 | </launch>
20 | 


--------------------------------------------------------------------------------
/launch/franka_control.launch:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <launch>
 3 |   <arg name="robot_ip" />
 4 |   <arg name="load_gripper" />
 5 | 
 6 |   <!-- Launch real-robot control -->
 7 |   <include file="$(find franka_control)/launch/franka_control.launch" pass_all_args="true" />
 8 | 
 9 |   <!-- By default use joint position controllers -->
10 |   <arg name="transmission" default="position" />
11 |   <!-- Start ROS controllers -->
12 |   <include file="$(dirname)/ros_controllers.launch" pass_all_args="true" />
13 | 
14 |   <!-- as well as MoveIt demo -->
15 |   <include file="$(dirname)/demo.launch" pass_all_args="true">
16 |     <!-- robot description is loaded by franka_control.launch -->
17 |     <arg name="load_robot_description" value="false" />
18 |     <!-- MoveItSimpleControllerManager provides ros_control's JointTrajectory controllers
19 |          as well as GripperCommand actions -->
20 |     <arg name="moveit_controller_manager" value="simple" />
21 |   </include>
22 | </launch>
23 | 


--------------------------------------------------------------------------------
/launch/run_benchmark_trajopt.launch:
--------------------------------------------------------------------------------
 1 | <launch>
 2 | 
 3 |   <!-- This argument must specify the list of .cfg files to process for benchmarking -->
 4 |   <arg name="cfg" />
 5 | 
 6 |   <!-- Load URDF -->
 7 |   <include file="$(find moveit_resources_panda_moveit_config)/launch/planning_context.launch">
 8 |     <arg name="load_robot_description" value="true"/>
 9 |   </include>
10 | 
11 |   <!-- Start the database -->
12 |   <include file="$(find moveit_resources_panda_moveit_config)/launch/warehouse.launch">
13 |     <arg name="moveit_warehouse_database_path" value="moveit_trajopt_benchmark_warehouse"/>
14 |   </include>
15 | 
16 |   <!-- Start Benchmark Executable -->
17 |   <node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" args="$(arg cfg) --benchmark-planners" respawn="false" output="screen">
18 |     <rosparam command="load" file="$(find moveit_resources_panda_moveit_config)/config/trajopt_planning.yaml"/>
19 |   </node>
20 | 
21 | </launch>
22 | 


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/launch/ompl_chomp_planning_pipeline.launch.xml:
--------------------------------------------------------------------------------
 1 | <launch>
 2 |   <!-- load OMPL planning pipeline, but add the CHOMP planning adapter. -->
 3 |   <include file="$(find panda_moveit_config)/launch/ompl_planning_pipeline.launch.xml">
 4 |     <arg name="planning_adapters" value="
 5 |        default_planner_request_adapters/AddTimeParameterization
 6 |        default_planner_request_adapters/FixWorkspaceBounds
 7 |        default_planner_request_adapters/FixStartStateBounds
 8 |        default_planner_request_adapters/FixStartStateCollision
 9 |        default_planner_request_adapters/FixStartStatePathConstraints
10 |        chomp/OptimizerAdapter"
11 |        />
12 |   </include>
13 | 
14 |   <!-- load chomp config -->
15 |   <rosparam command="load" file="$(find panda_moveit_config)/config/chomp_planning.yaml"/>
16 | 
17 |   <!-- override trajectory_initialization_method: Use OMPL-generated trajectory -->
18 |   <param name="trajectory_initialization_method" value="fillTrajectory"/>
19 | </launch>
20 | 


--------------------------------------------------------------------------------
/launch/sensor_manager.launch.xml:
--------------------------------------------------------------------------------
 1 | <launch>
 2 | 
 3 |   <!-- This file makes it easy to include the settings for sensor managers -->
 4 | 
 5 |   <!-- Params for 3D sensors config: '' | pointcloud | depthmap -->
 6 |   <arg name="sensor_type" default="" />
 7 |   <rosparam if="$(eval arg('sensor_type')  != '')" command="load" file="$(find panda_moveit_config)/config/sensors_kinect_$(arg sensor_type).yaml" />
 8 | 
 9 |   <!-- Params for the octomap monitor -->
10 |   <!--  <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
11 |   <param name="octomap_frame" type="string" value="camera_rgb_optical_frame" />
12 |   <param name="octomap_resolution" type="double" value="0.025" />
13 |   <param name="max_range" type="double" value="5.0" />
14 | 
15 |   <!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
16 |   <arg name="moveit_sensor_manager" default="panda" />
17 |   <include file="$(dirname)/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
18 | 
19 | </launch>
20 | 


--------------------------------------------------------------------------------
/launch/lerp_planning_pipeline.launch.xml:
--------------------------------------------------------------------------------
 1 | <launch>
 2 | 
 3 |   <!-- LERP Plugin for MoveIt! -->
 4 |   <arg name="planning_plugin" value="lerp_interface/LERPPlanner" />
 5 | 
 6 |   <!-- The request adapters (plugins) used when planning with TrajOpt.
 7 |        ORDER MATTERS -->
 8 |   <arg name="planning_adapters" value="default_planner_request_adapters/AddTimeParameterization
 9 | 				       default_planner_request_adapters/FixWorkspaceBounds
10 | 				       default_planner_request_adapters/FixStartStateBounds
11 | 				       default_planner_request_adapters/FixStartStateCollision
12 | 				       default_planner_request_adapters/FixStartStatePathConstraints" />
13 | 
14 |   <arg name="start_state_max_bounds_error" value="0.1" />
15 | 
16 |   <param name="planning_plugin" value="$(arg planning_plugin)" />
17 |   <param name="request_adapters" value="$(arg planning_adapters)" />
18 |   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
19 | 
20 |   <rosparam command="load" file="$(find panda_moveit_config)/config/lerp_planning.yaml"/>
21 | 
22 | </launch>
23 | 


--------------------------------------------------------------------------------
/CHANGELOG.rst:
--------------------------------------------------------------------------------
 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 2 | Changelog for package panda_moveit_config
 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 4 | 
 5 | 0.8.1 (2022-09-11)
 6 | ------------------
 7 | * Update to franka_description 0.10.0 (`#119 <https://github.com/ros-planning/panda_moveit_config/issues/119>`_)
 8 | * Example use of ns parameter in sensors.yaml (`#88 <https://github.com/ros-planning/panda_moveit_config/issues/88>`_)
 9 | * Drop link8 from ACM as this link doesn't have any collision model anymore
10 | * srdf: Use loop macros to reduce code redundancy
11 | * Unify calls to xacro
12 | * Contributors: Matt Droter, Robert Haschke, Tim Redick
13 | 
14 | 0.8.0 (2022-09-01)
15 | ------------------
16 | * Thorough rework based on franka_description 0.9.1 (using fine and coarse collision models)
17 |   The internal robot controller uses coarse collision models for self-collision checking.
18 |   In MoveIt, these coarse models should be used for self-collision checking only as well.
19 |   Particularly, these coarse models should not be used for collision checking with the environment.
20 | 


--------------------------------------------------------------------------------
/launch/chomp_planning_pipeline.launch.xml:
--------------------------------------------------------------------------------
 1 | <launch>
 2 |   <arg name="start_state_max_bounds_error" default="0.1" />
 3 |   <arg name="jiggle_fraction" default="0.05" />
 4 |   <!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
 5 |   <arg name="planning_adapters"
 6 |        default="default_planner_request_adapters/AddTimeParameterization
 7 |                 default_planner_request_adapters/ResolveConstraintFrames
 8 |                 default_planner_request_adapters/FixWorkspaceBounds
 9 |                 default_planner_request_adapters/FixStartStateBounds
10 |                 default_planner_request_adapters/FixStartStateCollision
11 |                 default_planner_request_adapters/FixStartStatePathConstraints"
12 |                 />
13 | 
14 |   <param name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
15 |   <param name="request_adapters" value="$(arg planning_adapters)" />
16 |   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
17 |   <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
18 | 
19 |   <!-- Add MoveGroup capabilities specific to this pipeline -->
20 |   <!-- <param name="capabilities" value="" /> -->
21 | 
22 |   <rosparam command="load" file="$(find panda_moveit_config)/config/chomp_planning.yaml" />
23 | </launch>
24 | 


--------------------------------------------------------------------------------
/config/stomp_planning.yaml:
--------------------------------------------------------------------------------
 1 | optimization:
 2 |   num_timesteps: 60
 3 |   num_iterations: 40
 4 |   num_iterations_after_valid: 0
 5 |   num_rollouts: 30
 6 |   max_rollouts: 30
 7 |   initialization_method: 1 #[1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST]
 8 |   control_cost_weight: 0.0
 9 | task:
10 |   noise_generator:
11 |     - class: stomp_moveit/NormalDistributionSampling
12 |       stddev: [0.05, 0.8, 1.0, 0.8, 0.4, 0.4, 0.4]
13 |   cost_functions:
14 |     - class: stomp_moveit/CollisionCheck
15 |       collision_penalty: 1.0
16 |       cost_weight: 1.0
17 |       kernel_window_percentage: 0.2
18 |       longest_valid_joint_move: 0.05
19 |   noisy_filters:
20 |     - class: stomp_moveit/JointLimits
21 |       lock_start: True
22 |       lock_goal: True
23 |     - class: stomp_moveit/MultiTrajectoryVisualization
24 |       line_width: 0.02
25 |       rgb: [255, 255, 0]
26 |       marker_array_topic: stomp_trajectories
27 |       marker_namespace: noisy
28 |   update_filters:
29 |     - class: stomp_moveit/PolynomialSmoother
30 |       poly_order: 6
31 |     - class: stomp_moveit/TrajectoryVisualization
32 |       line_width: 0.05
33 |       rgb: [0, 191, 255]
34 |       error_rgb: [255, 0, 0]
35 |       publish_intermediate: True
36 |       marker_topic: stomp_trajectory
37 |       marker_namespace: optimized
38 | 


--------------------------------------------------------------------------------
/launch/demo_gazebo.launch:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <launch>
 3 |   <!-- MoveIt options -->
 4 |   <arg name="pipeline" default="ompl" doc="Planning pipeline to use with MoveIt"/>
 5 | 
 6 |   <!-- Panda options -->
 7 |   <arg name="load_gripper" default="true" />
 8 |   <arg name="transmission" default="effort" />
 9 | 
10 |   <!-- Gazebo options -->
11 |   <arg name="gazebo_gui" default="true" doc="Start Gazebo GUI"/>
12 |   <arg name="paused" default="false" doc="Start Gazebo paused"/>
13 | 
14 |   <!-- Launch the gazebo simulator and spawn the robot -->
15 |   <include file="$(find franka_gazebo)/launch/panda.launch" pass_all_args="true">
16 |     <arg name="headless" value="$(eval not arg('gazebo_gui'))" />
17 |     <arg name="use_gripper" default="$(arg load_gripper)" />
18 |     <arg name="controller" default="$(arg transmission)_joint_trajectory_controller" />
19 |   </include>
20 | 
21 |   <!-- Launch MoveIt -->
22 |   <include file="$(dirname)/demo.launch" pass_all_args="true">
23 |     <!-- robot_description is loaded by gazebo.launch, to enable Gazebo features -->
24 |     <arg name="load_robot_description" value="false" />
25 |     <!-- MoveItSimpleControllerManager provides ros_control's JointTrajectory controllers
26 |          as well as GripperCommand actions -->
27 |     <arg name="moveit_controller_manager" value="simple" />
28 |   </include>
29 | </launch>
30 | 


--------------------------------------------------------------------------------
/launch/ompl_planning_pipeline.launch.xml:
--------------------------------------------------------------------------------
 1 | <launch>
 2 | 
 3 |   <!-- The request adapters (plugins) used when planning with OMPL. ORDER MATTERS! -->
 4 |   <arg name="planning_adapters"
 5 |        default="default_planner_request_adapters/AddTimeParameterization
 6 |                 default_planner_request_adapters/ResolveConstraintFrames
 7 |                 default_planner_request_adapters/FixWorkspaceBounds
 8 |                 default_planner_request_adapters/FixStartStateBounds
 9 |                 default_planner_request_adapters/FixStartStateCollision
10 |                 default_planner_request_adapters/FixStartStatePathConstraints"
11 |                 />
12 | 
13 |   <arg name="start_state_max_bounds_error" default="0.1" />
14 |   <arg name="jiggle_fraction" default="0.05" />
15 |   <arg name="arm_id" default="panda" />
16 | 
17 |   <param name="planning_plugin" value="ompl_interface/OMPLPlanner" />
18 |   <param name="request_adapters" value="$(arg planning_adapters)" />
19 |   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
20 |   <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
21 | 
22 |   <!-- Add MoveGroup capabilities specific to this pipeline -->
23 |   <!-- <param name="capabilities" value="" /> -->
24 | 
25 |   <rosparam command="load" file="$(find panda_moveit_config)/config/ompl_planning.yaml" subst_value="true"/>
26 | 
27 | </launch>
28 | 


--------------------------------------------------------------------------------
/config/panda.srdf.xacro:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" encoding="UTF-8"?>
 2 | <!--This does not replace URDF, and is not an extension of URDF.
 3 |     This is a format for representing semantic information about the robot structure.
 4 |     A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
 5 | -->
 6 | <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
 7 |     <xacro:arg name="arm_id" default="panda" />
 8 | 
 9 |     <xacro:include filename="$(find panda_moveit_config)/config/arm.xacro" />
10 |     <!-- panda_arm group: eef frame aligned to robot's flanche -->
11 |     <xacro:arm name="$(arg arm_id)_arm" tip_link="$(arg arm_id)_link8"/>
12 | 
13 |     <!--Add the hand if people request it-->
14 |     <xacro:arg name="hand" default="false" />
15 |     <xacro:if value="$(arg hand)">
16 |         <!-- manipulator group: eef frame aligned to hand -->
17 |         <xacro:arm name="$(arg arm_id)_manipulator" tip_link="$(arg arm_id)_hand_tcp" />
18 |         <xacro:include filename="$(find panda_moveit_config)/config/hand.xacro" />
19 |         <xacro:hand />
20 | 
21 |         <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
22 |         <end_effector name="$(arg arm_id)_hand_tcp" parent_link="$(arg arm_id)_hand_tcp" group="$(arg arm_id)_hand" parent_group="$(arg arm_id)_manipulator" />
23 |         <!-- old end-effector -->
24 |         <end_effector name="$(arg arm_id)_hand" parent_link="$(arg arm_id)_link8" group="$(arg arm_id)_hand" parent_group="$(arg arm_id)_arm" />
25 |     </xacro:if>
26 | 
27 | </robot>
28 | 


--------------------------------------------------------------------------------
/launch/planning_context.launch:
--------------------------------------------------------------------------------
 1 | <launch>
 2 |   <!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
 3 |   <arg name="load_gripper" default="true" />
 4 |   <arg name="load_robot_description" default="false"/>
 5 |   <arg name="arm_id" default="panda" />
 6 | 
 7 |   <!-- The name of the parameter under which the URDF is loaded -->
 8 |   <arg name="robot_description" default="robot_description"/>
 9 | 
10 |   <!-- Load universal robot description format (URDF) -->
11 |   <param if="$(arg load_robot_description)" name="$(arg robot_description)"
12 |          command="xacro '$(find franka_description)/robots/panda/panda.urdf.xacro' hand:=$(arg load_gripper) arm_id:=$(arg arm_id)" />
13 | 
14 |   <!-- The semantic description that corresponds to the URDF -->
15 |   <param name="$(arg robot_description)_semantic" command="xacro '$(find panda_moveit_config)/config/panda.srdf.xacro' hand:=$(arg load_gripper) arm_id:=$(arg arm_id)" />
16 | 
17 |   <!-- Load updated joint limits (override information from URDF) -->
18 |   <group ns="$(arg robot_description)_planning">
19 |     <rosparam command="load" file="$(find panda_moveit_config)/config/joint_limits.yaml" subst_value="true" />
20 |     <rosparam command="load" file="$(find panda_moveit_config)/config/cartesian_limits.yaml" subst_value="true"/>
21 |   </group>
22 | 
23 |   <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
24 |   <group ns="$(arg robot_description)_kinematics">
25 |     <rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml" subst_value="true"/>
26 | 
27 |   </group>
28 | 
29 | </launch>
30 | 


--------------------------------------------------------------------------------
/launch/trajectory_execution.launch.xml:
--------------------------------------------------------------------------------
 1 | <launch>
 2 |   <!-- This file summarizes all settings required for trajectory execution  -->
 3 | 
 4 |   <!-- Define moveit controller manager plugin: fake, simple, or ros_control -->
 5 |   <arg name="moveit_controller_manager" />
 6 |   <arg name="fake_execution_type" default="interpolate" />
 7 | 
 8 |   <!-- Flag indicating whether MoveIt is allowed to load/unload  or switch controllers -->
 9 |   <arg name="moveit_manage_controllers" default="true"/>
10 |   <param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
11 | 
12 |   <!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution -->
13 |   <param name="trajectory_execution/allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 -->
14 |   <!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
15 |   <param name="trajectory_execution/allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
16 |   <!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state -->
17 |   <param name="trajectory_execution/allowed_start_tolerance" value="0.01"/> <!-- default 0.01 -->
18 | 
19 |   <!-- We use pass_all_args=true here to pass fake_execution_type, which is required by fake controllers, but not by real-robot controllers.
20 |        As real-robot controller_manager.launch files shouldn't be required to define this argument, we use the trick of passing all args. -->
21 |   <include file="$(dirname)/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" pass_all_args="true" />
22 | 
23 | </launch>
24 | 


--------------------------------------------------------------------------------
/launch/trajopt_planning_pipeline.launch.xml:
--------------------------------------------------------------------------------
 1 | <launch>
 2 | 
 3 |   <!-- TrajOpt Plugin for MoveIt -->
 4 |   <arg name="planning_plugin" value="trajopt_interface/TrajOptPlanner" />
 5 | 
 6 |   <!-- define capabilites that are loaded on start (space seperated) -->
 7 |   <arg name="capabilities" default=""/>
 8 | 
 9 |   <!-- inhibit capabilites (space seperated) -->
10 |   <arg name="disable_capabilities" default=""/>
11 | 
12 |   <!-- The request adapters (plugins) used when planning with TrajOpt.
13 |        ORDER MATTERS -->
14 |   <arg name="planning_adapters" default="default_planner_request_adapters/AddTimeParameterization
15 |                                        default_planner_request_adapters/FixWorkspaceBounds
16 |                                        default_planner_request_adapters/FixStartStateBounds
17 |                                        default_planner_request_adapters/FixStartStateCollision
18 |                                        default_planner_request_adapters/FixStartStatePathConstraints" />
19 | 
20 |   <arg name="start_state_max_bounds_error" default="0.1" />
21 |   <arg name="jiggle_fraction" default="0.05" />
22 | 
23 |   <param name="planning_plugin" value="$(arg planning_plugin)" />
24 |   <param name="request_adapters" value="$(arg planning_adapters)" />
25 |   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
26 |   <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
27 |   <param name="capabilities" value="$(arg capabilities)" />
28 |   <param name="disable_capabilities" value="$(arg disable_capabilities)" />
29 | 
30 |   <rosparam command="load" file="$(find panda_moveit_config)/config/trajopt_planning.yaml"/>
31 | 
32 | </launch>
33 | 


--------------------------------------------------------------------------------
/launch/stomp_planning_pipeline.launch.xml:
--------------------------------------------------------------------------------
 1 | <launch>
 2 |   <!-- Stomp Plugin for MoveIt! -->
 3 |   <arg name="planning_plugin" value="stomp_moveit/StompPlannerManager" />
 4 | 
 5 |   <arg name="start_state_max_bounds_error" value="0.1" />
 6 |   <arg name="jiggle_fraction" value="0.05" />
 7 |   <!-- The request adapters (plugins) used when planning.
 8 |        ORDER MATTERS -->
 9 |   <arg name="planning_adapters" default="default_planner_request_adapters/AddTimeParameterization
10 |                                        default_planner_request_adapters/FixWorkspaceBounds
11 |                                        default_planner_request_adapters/FixStartStateBounds
12 |                                        default_planner_request_adapters/FixStartStateCollision
13 |                                        default_planner_request_adapters/FixStartStatePathConstraints" />
14 | 
15 | 
16 |   <param name="planning_plugin" value="$(arg planning_plugin)" />
17 |   <param name="request_adapters" value="$(arg planning_adapters)" />
18 |   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
19 |   <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
20 | 
21 |   <!-- Add MoveGroup capabilities specific to this pipeline -->
22 |   <!-- <param name="capabilities" value="" /> -->
23 | 
24 |   <!-- Load parameters for both groups, panda_arm and manipulator -->
25 |   <group ns="stomp">
26 |     <group ns="$(arg arm_id)_arm">
27 |       <rosparam command="load" file="$(find panda_moveit_config)/config/stomp_planning.yaml"/>
28 |       <param name="group_name" value="$(arg arm_id)_arm"/>
29 |     </group>
30 |     <group ns="$(arg arm_id)_manipulator">
31 |       <rosparam command="load" file="$(find panda_moveit_config)/config/stomp_planning.yaml"/>
32 |       <param name="group_name" value="$(arg arm_id)_manipulator"/>
33 |     </group>
34 |   </group>
35 | 
36 | </launch>
37 | 


--------------------------------------------------------------------------------
/package.xml:
--------------------------------------------------------------------------------
 1 | <package>
 2 | 
 3 |   <name>panda_moveit_config</name>
 4 |   <version>0.8.1</version>
 5 |   <description>
 6 |      An automatically generated package with all the configuration and launch files for using the panda with the MoveIt Motion Planning Framework
 7 |   </description>
 8 |   <author email="moveit_releasers@googlegroups.com">MoveIt maintainer team</author>
 9 |   <maintainer email="moveit_releasers@googlegroups.com">MoveIt maintainer team</maintainer>
10 | 
11 |   <license>BSD</license>
12 | 
13 |   <url type="website">http://moveit.ros.org/</url>
14 |   <url type="bugtracker">https://github.com/ros-planning/moveit/issues</url>
15 |   <url type="repository">https://github.com/ros-planning/moveit</url>
16 | 
17 |   <buildtool_depend>catkin</buildtool_depend>
18 | 
19 |   <run_depend>moveit_ros_move_group</run_depend>
20 |   <run_depend>moveit_fake_controller_manager</run_depend>
21 |   <run_depend>moveit_kinematics</run_depend>
22 |   <run_depend>moveit_planners</run_depend>
23 |   <run_depend>moveit_ros_visualization</run_depend>
24 |   <run_depend>moveit_setup_assistant</run_depend>
25 |   <run_depend>moveit_simple_controller_manager</run_depend>
26 |   <run_depend>joint_state_publisher</run_depend>
27 |   <run_depend>joint_state_publisher_gui</run_depend>
28 |   <run_depend>robot_state_publisher</run_depend>
29 |   <run_depend>rviz</run_depend>
30 |   <run_depend>tf2_ros</run_depend>
31 |   <run_depend>xacro</run_depend>
32 |   <!-- The next 2 packages are required for the gazebo simulation.
33 |        We don't include them by default to prevent installing gazebo and all its dependencies. -->
34 |   <!-- <run_depend>joint_trajectory_controller</run_depend> -->
35 |   <!-- <run_depend>gazebo_ros_control</run_depend> -->
36 |   <!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment. Commented the dependency until this works. -->
37 |   <!-- <run_depend>warehouse_ros_mongo</run_depend> -->
38 |   <run_depend version_gte="0.10.0">franka_description</run_depend>
39 | 
40 | </package>
41 | 


--------------------------------------------------------------------------------
/config/joint_limits.yaml:
--------------------------------------------------------------------------------
 1 | # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
 2 | 
 3 | # For beginners, we downscale velocity and acceleration limits.
 4 | # You can always specify higher scaling factors (<= 1.0) in your motion requests.  # Increase the values below to 1.0 to always move at maximum speed.
 5 | default_velocity_scaling_factor: 0.1
 6 | default_acceleration_scaling_factor: 0.1
 7 | 
 8 | # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
 9 | # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
10 | 
11 | # As MoveIt! does not support jerk limits, the acceleration limits provided here are the highest values that guarantee
12 | # that no jerk limits will be violated. More precisely, applying Euler differentiation in the worst case (from min accel
13 | # to max accel in 1 ms) the acceleration limits are the ones that satisfy
14 | # max_jerk = (max_acceleration - min_acceleration) / 0.001
15 | 
16 | joint_limits:
17 |   $(arg arm_id)_finger_joint1:
18 |     has_velocity_limits: true
19 |     max_velocity: 0.1
20 |     has_acceleration_limits: false
21 |     max_acceleration: 0
22 |   $(arg arm_id)_finger_joint2:
23 |     has_velocity_limits: true
24 |     max_velocity: 0.1
25 |     has_acceleration_limits: false
26 |     max_acceleration: 0
27 |   $(arg arm_id)_joint1:
28 |     has_velocity_limits: true
29 |     max_velocity: 2.1750
30 |     has_acceleration_limits: true
31 |     max_acceleration: 3.75
32 |   $(arg arm_id)_joint2:
33 |     has_velocity_limits: true
34 |     max_velocity: 2.1750
35 |     has_acceleration_limits: true
36 |     max_acceleration: 1.875
37 |   $(arg arm_id)_joint3:
38 |     has_velocity_limits: true
39 |     max_velocity: 2.1750
40 |     has_acceleration_limits: true
41 |     max_acceleration: 2.5
42 |   $(arg arm_id)_joint4:
43 |     has_velocity_limits: true
44 |     max_velocity: 2.1750
45 |     has_acceleration_limits: true
46 |     max_acceleration: 3.125
47 |   $(arg arm_id)_joint5:
48 |     has_velocity_limits: true
49 |     max_velocity: 2.6100
50 |     has_acceleration_limits: true
51 |     max_acceleration: 3.75
52 |   $(arg arm_id)_joint6:
53 |     has_velocity_limits: true
54 |     max_velocity: 2.6100
55 |     has_acceleration_limits: true
56 |     max_acceleration: 5
57 |   $(arg arm_id)_joint7:
58 |     has_velocity_limits: true
59 |     max_velocity: 2.6100
60 |     has_acceleration_limits: true
61 |     max_acceleration: 5
62 | 
63 | 


--------------------------------------------------------------------------------
/config/hand.xacro:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" encoding="UTF-8"?>
 2 | <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
 3 |     <xacro:macro name="hand">
 4 |         <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
 5 |         <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
 6 |         <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
 7 |         <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
 8 |         <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
 9 |         <group name="$(arg arm_id)_hand">
10 |             <link name="$(arg arm_id)_hand"/>
11 |             <link name="$(arg arm_id)_leftfinger"/>
12 |             <link name="$(arg arm_id)_rightfinger"/>
13 |         </group>
14 |         <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
15 |         <group_state name="open" group="$(arg arm_id)_hand">
16 |             <joint name="$(arg arm_id)_finger_joint1" value="0.035"/>
17 |             <joint name="$(arg arm_id)_finger_joint2" value="0.035"/>
18 |         </group_state>
19 |         <group_state name="close" group="$(arg arm_id)_hand">
20 |             <joint name="$(arg arm_id)_finger_joint1" value="0"/>
21 |             <joint name="$(arg arm_id)_finger_joint2" value="0"/>
22 |         </group_state>
23 |         <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
24 |         <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
25 |         <!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
26 |         <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
27 |         <!-- Disable collisions for hand_sc by default (with environment) -->
28 |         <disable_default_collisions link="$(arg arm_id)_hand_sc" />
29 |         <!-- Reenable collision of hand_sc for selected arm sc links -->
30 |         <xacro:property name="link_fmt" value="$(arg arm_id)_link{}_sc" />
31 |         <xacro:enable_collisions_for link="$(arg arm_id)_hand_sc" others="${[link_fmt.format(i) for i in [0,1,2,3]]}" />
32 |         <!-- Disable collision of hand link with all arm links. These are handled by the *_sc links -->
33 |         <xacro:property name="link_fmt" value="$(arg arm_id)_link{}" />
34 |         <xacro:disable_collisions_for link="$(arg arm_id)_hand" others="${[link_fmt.format(i) for i in python.range(8)]}" />
35 |         <!-- Disable collision of fingers with all arm links -->
36 |         <xacro:property name="others" value="${[link_fmt.format(i) for i in python.range(8)] + [xacro.arg('arm_id') + '_hand']}" />
37 |         <xacro:disable_collisions_for link="$(arg arm_id)_leftfinger" others="${list(others)}" />
38 |         <xacro:disable_collisions_for link="$(arg arm_id)_rightfinger" others="${list(others)}" />
39 |         <disable_collisions link1="$(arg arm_id)_leftfinger" link2="$(arg arm_id)_rightfinger" reason="Never" />
40 |     </xacro:macro>
41 | </robot>
42 | 


--------------------------------------------------------------------------------
/launch/demo.launch:
--------------------------------------------------------------------------------
 1 | <launch>
 2 |   <arg name="arm_id" default="panda" />
 3 | 
 4 |   <!-- specify the planning pipeline -->
 5 |   <arg name="pipeline" default="ompl" />
 6 | 
 7 |   <!-- By default, we do not start a database (it can be large) -->
 8 |   <arg name="db" default="false" />
 9 |   <!-- Allow user to specify database location -->
10 |   <arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db" />
11 | 
12 |   <!-- By default, we are not in debug mode -->
13 |   <arg name="debug" default="false" />
14 | 
15 |   <!-- By default we will load the gripper -->
16 |   <arg name="load_gripper" default="true" />
17 | 
18 |   <!-- By default, we will load or override the robot_description -->
19 |   <arg name="load_robot_description" default="true"/>
20 | 
21 |   <!-- Choose controller manager: fake, simple, or ros_control -->
22 |   <arg name="moveit_controller_manager" default="fake" />
23 |   <!-- Set execution mode for fake execution controllers -->
24 |   <arg name="fake_execution_type" default="interpolate" />
25 |   <!-- Transmission used for joint control: position, velocity, or effort -->
26 |   <arg name="transmission" />
27 | 
28 |   <!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
29 |   <arg name="use_gui" default="false" />
30 |   <arg name="use_rviz" default="true" />
31 |   <!-- Use rviz config for MoveIt tutorial -->
32 |   <arg name="rviz_tutorial" default="false" />
33 | 
34 |   <!-- If needed, broadcast static tf for robot root -->
35 |   <node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world $(arg arm_id)_link0" />
36 | 
37 | 
38 | 
39 |   <group if="$(eval arg('moveit_controller_manager') == 'fake')">
40 |     <!-- We do not have a real robot connected, so publish fake joint states via a joint_state_publisher
41 |          MoveIt's fake controller's joint states are considered via the 'source_list' parameter -->
42 |     <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
43 |       <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
44 |     </node>
45 |     <!-- If desired, a GUI version is available allowing to move the simulated robot around manually
46 |          This corresponds to moving around the real robot without the use of MoveIt. -->
47 |     <node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
48 |       <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
49 |     </node>
50 | 
51 |     <!-- Given the published joint states, publish tf for the robot links -->
52 |     <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
53 |   </group>
54 | 
55 |   <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
56 |   <include file="$(dirname)/move_group.launch" pass_all_args="true">
57 |     <arg name="allow_trajectory_execution" value="true" />
58 |     <arg name="info" value="true" />
59 |   </include>
60 | 
61 |   <!-- Run Rviz and load the default config to see the state of the move_group node -->
62 |   <include file="$(dirname)/moveit_rviz.launch" if="$(arg use_rviz)">
63 |     <arg name="rviz_tutorial" value="$(arg rviz_tutorial)"/>
64 |     <arg name="rviz_config" value="$(dirname)/moveit.rviz"/>
65 |     <arg name="debug" value="$(arg debug)"/>
66 |   </include>
67 | 
68 |   <!-- If database loading was enabled, start mongodb as well -->
69 |   <include file="$(dirname)/default_warehouse_db.launch" if="$(arg db)">
70 |     <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
71 |   </include>
72 | 
73 | </launch>
74 | 


--------------------------------------------------------------------------------
/config/trajopt_planning.yaml:
--------------------------------------------------------------------------------
 1 | trajopt_param:
 2 |   improve_ratio_threshold: 0.25   # minimum ratio true_improve/approx_improve to accept step. [Research Paper] TrueImprove/ModelImprove > c
 3 |   min_trust_box_size: 1e-4        # if trust region gets any smaller, exit and report convergence. [Research Paper] xtol
 4 |   min_approx_improve: 1e-4        # if model improves less than this, exit and report convergence
 5 |   min_approx_improve_frac: -.Inf  # if model improves less than this, exit and report convergence
 6 |   max_iter: 100                   # The max number of iterations
 7 |   trust_shrink_ratio: 0.1         # if improvement is less than improve_ratio_threshold, shrink trust region by this ratio. [Research Paper] tao-
 8 |   trust_expand_ratio: 1.5         # if improvement is less than improve_ratio_threshold, shrink trust region by this ratio. [Research Paper] tao+
 9 |   cnt_tolerance: 1e-4             # after convergence of penalty subproblem, if constraint violation is less than this, we're done. [Research Paper] ctol
10 |   max_merit_coeff_increases: 5    # number of times that we jack up penalty coefficient. [Reasearch Paper] Max iteration in PenaltyIteration loop
11 |   merit_coeff_increase_ratio: 10  # ratio that we increate coeff each time. [Researcy Paper] Penalty scaling factory (italic kappa)
12 |   max_time: .inf                  # not yet implemented
13 |   merit_error_coeff: 10           # initial penalty coefficient. [Research Paper] mu_0
14 |   trust_box_size: 1e-1            # current size of trust region (component-wise). [Research Paper] s
15 | 
16 | problem_info:
17 |   basic_info:
18 |     n_steps: 20                # 2 * steps_per_phase
19 |     dt_upper_lim: 2.0          # The upper limit of 1/dt values allowed in the optimization
20 |     dt_lower_lim: 100.0        # The lower limit of 1/dt values allowed in the optimization
21 |     start_fixed: true          # if true, start pose is the current pose at timestep = 0
22 |     # if false, the start pose is the one given by req.start_state
23 |     use_time: false            # if false, it means the timestep is unit, meaning x1-x0 is the velocity for example
24 |     # if true, then cost_infos ro cnt_infos should have TT_USE_TIME for their term_type
25 |     convex_solver: 1           # which convex solver to use
26 |     #  1 = AUTO_SOLVER,  2 = BPMPD, 3 = OSQP, 4 = QPOASES, 5 = GUROBI
27 | 
28 |   init_info:
29 |     type: 3                    # 1 = STATIONARY, 2 = JOINT_INTERPOLATED, 3 = GIVEN_TRAJ
30 |     # request.start_state should be provided for JOINT_INTERPOLATED and GIVEN_TRAJ
31 |     dt: 0.5
32 | 
33 | joint_pos_term_info:
34 |   start_pos:   # from req.start_state
35 |     name: start_pos
36 |     first_timestep: 10                # First time step to which the term is applied.
37 |     last_timestep: 10                # Last time step to which the term is applied.
38 |     # if start_fixed is trure then we can not set the first_timestep to 0 for start_pos as it is going
39 |     # to be ignored and only the current pose would be the constraint at timestep = 0.
40 |     term_type: 2                 # 1 = TT_COST, 2 = TT_CNT, 3 = TT_USE_TIME
41 |   middle_pos:
42 |     name: middle_pos
43 |     first_timestep: 15
44 |     last_timestep: 15
45 |     term_type: 2
46 |   goal_pos:
47 |     name: goal_pos
48 |     first_timestep: 19
49 |     last_timestep: 19
50 |     term_type: 2
51 |   goal_tmp:               # If the constraint from request does not have any name, for example when using MotionPlanning Display in Rviz,
52 |   # goal_tmp is assigned as the name of the constraint.
53 |   # In this case: start_fixed = false and start_pos should be applied at timestep 0
54 |   # OR: start_fixed = true and start_pos can be applies at any timestep
55 |     name: goal_tmp
56 |     first_timestep: 19  # n_steps - 1
57 |     last_timestep: 19   # n_steps - 1
58 |     term_type: 2
59 | 


--------------------------------------------------------------------------------
/launch/moveit_empty.rviz:
--------------------------------------------------------------------------------
  1 | Panels:
  2 |   - Class: rviz/Displays
  3 |     Help Height: 84
  4 |     Name: Displays
  5 |     Property Tree Widget:
  6 |       Expanded: ~
  7 |       Splitter Ratio: 0.5
  8 |     Tree Height: 613
  9 |   - Class: rviz/Help
 10 |     Name: Help
 11 |   - Class: rviz/Views
 12 |     Expanded:
 13 |       - /Current View1
 14 |     Name: Views
 15 |     Splitter Ratio: 0.5
 16 | Preferences:
 17 |   PromptSaveOnExit: true
 18 | Toolbars:
 19 |   toolButtonStyle: 2
 20 | Visualization Manager:
 21 |   Class: ""
 22 |   Displays:
 23 |     - Alpha: 0.5
 24 |       Cell Size: 1
 25 |       Class: rviz/Grid
 26 |       Color: 160; 160; 164
 27 |       Enabled: true
 28 |       Line Style:
 29 |         Line Width: 0.029999999329447746
 30 |         Value: Lines
 31 |       Name: Grid
 32 |       Normal Cell Count: 0
 33 |       Offset:
 34 |         X: 0
 35 |         Y: 0
 36 |         Z: 0
 37 |       Plane: XY
 38 |       Plane Cell Count: 10
 39 |       Reference Frame: <Fixed Frame>
 40 |       Value: true
 41 |     - Class: rviz/MarkerArray
 42 |       Enabled: true
 43 |       Marker Topic: rviz_visual_tools
 44 |       Name: MarkerArray
 45 |       Namespaces:
 46 |         {}
 47 |       Queue Size: 100
 48 |       Value: true
 49 |   Enabled: true
 50 |   Global Options:
 51 |     Background Color: 48; 48; 48
 52 |     Default Light: true
 53 |     Fixed Frame: panda_link0
 54 |     Frame Rate: 30
 55 |   Name: root
 56 |   Tools:
 57 |     - Class: rviz/Interact
 58 |       Hide Inactive Objects: true
 59 |     - Class: rviz/MoveCamera
 60 |     - Class: rviz/Select
 61 |     - Class: rviz_visual_tools/KeyTool
 62 |   Value: true
 63 |   Views:
 64 |     Current:
 65 |       Class: rviz/Orbit
 66 |       Distance: 2
 67 |       Enable Stereo Rendering:
 68 |         Stereo Eye Separation: 0.05999999865889549
 69 |         Stereo Focal Distance: 1
 70 |         Swap Stereo Eyes: false
 71 |         Value: false
 72 |       Field of View: 0.75
 73 |       Focal Point:
 74 |         X: -0.10000000149011612
 75 |         Y: 0.25
 76 |         Z: 0.30000001192092896
 77 |       Focal Shape Fixed Size: true
 78 |       Focal Shape Size: 0.05000000074505806
 79 |       Invert Z Axis: false
 80 |       Name: Current View
 81 |       Near Clip Distance: 0.009999999776482582
 82 |       Pitch: 0.5
 83 |       Target Frame: panda_link0
 84 |       Yaw: -0.6232355833053589
 85 |     Saved: ~
 86 | Window Geometry:
 87 |   Displays:
 88 |     collapsed: false
 89 |   Height: 848
 90 |   Help:
 91 |     collapsed: false
 92 |   Hide Left Dock: false
 93 |   Hide Right Dock: false
 94 |   QMainWindow State: 000000ff00000000fd0000000100000000000001f0000002f6fc020000000afb000000100044006900730070006c006100790073010000003d000002f6000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006700000001ab000001880000000000000000fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000024005200760069007a00560069007300750061006c0054006f006f006c007300470075006900000002f2000000410000000000000000fb0000003c005400720061006a006500630074006f007200790020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff000000000000000000000315000002f600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
 95 |   Views:
 96 |     collapsed: false
 97 |   Width: 1291
 98 |   X: 444
 99 |   Y: 25
100 | 


--------------------------------------------------------------------------------
/launch/moveit.rviz:
--------------------------------------------------------------------------------
  1 | Panels:
  2 |   - Class: rviz/Displays
  3 |     Help Height: 84
  4 |     Name: Displays
  5 |     Property Tree Widget:
  6 |       Expanded:
  7 |         - /MotionPlanning1
  8 |       Splitter Ratio: 0.5
  9 |     Tree Height: 226
 10 |   - Class: rviz/Help
 11 |     Name: Help
 12 |   - Class: rviz/Views
 13 |     Expanded:
 14 |       - /Current View1
 15 |     Name: Views
 16 |     Splitter Ratio: 0.5
 17 | Visualization Manager:
 18 |   Class: ""
 19 |   Displays:
 20 |     - Alpha: 0.5
 21 |       Cell Size: 1
 22 |       Class: rviz/Grid
 23 |       Color: 160; 160; 164
 24 |       Enabled: true
 25 |       Line Style:
 26 |         Line Width: 0.03
 27 |         Value: Lines
 28 |       Name: Grid
 29 |       Normal Cell Count: 0
 30 |       Offset:
 31 |         X: 0
 32 |         Y: 0
 33 |         Z: 0
 34 |       Plane: XY
 35 |       Plane Cell Count: 10
 36 |       Reference Frame: <Fixed Frame>
 37 |       Value: true
 38 |     - Class: moveit_rviz_plugin/MotionPlanning
 39 |       Enabled: true
 40 |       Name: MotionPlanning
 41 |       Planned Path:
 42 |         Links: ~
 43 |         Loop Animation: true
 44 |         Robot Alpha: 0.5
 45 |         Show Robot Collision: false
 46 |         Show Robot Visual: true
 47 |         Show Trail: false
 48 |         State Display Time: 0.05 s
 49 |         Trajectory Topic: move_group/display_planned_path
 50 |       Planning Metrics:
 51 |         Payload: 1
 52 |         Show Joint Torques: false
 53 |         Show Manipulability: false
 54 |         Show Manipulability Index: false
 55 |         Show Weight Limit: false
 56 |       Planning Request:
 57 |         Colliding Link Color: 255; 0; 0
 58 |         Goal State Alpha: 1
 59 |         Goal State Color: 250; 128; 0
 60 |         Interactive Marker Size: 0
 61 |         Joint Violation Color: 255; 0; 255
 62 |         Query Goal State: true
 63 |         Query Start State: false
 64 |         Show Workspace: false
 65 |         Start State Alpha: 1
 66 |         Start State Color: 0; 255; 0
 67 |       Planning Scene Topic: move_group/monitored_planning_scene
 68 |       Robot Description: robot_description
 69 |       Scene Geometry:
 70 |         Scene Alpha: 1
 71 |         Show Scene Geometry: true
 72 |         Voxel Coloring: Z-Axis
 73 |         Voxel Rendering: Occupied Voxels
 74 |       Scene Robot:
 75 |         Attached Body Color: 150; 50; 150
 76 |         Links: ~
 77 |         Robot Alpha: 0.5
 78 |         Show Scene Robot: true
 79 |       Value: true
 80 |   Enabled: true
 81 |   Global Options:
 82 |     Background Color: 48; 48; 48
 83 |     Fixed Frame: panda_link0
 84 |   Name: root
 85 |   Tools:
 86 |     - Class: rviz/Interact
 87 |       Hide Inactive Objects: true
 88 |     - Class: rviz/MoveCamera
 89 |     - Class: rviz/Select
 90 |   Value: true
 91 |   Views:
 92 |     Current:
 93 |       Class: rviz/Orbit
 94 |       Distance: 2.0
 95 |       Enable Stereo Rendering:
 96 |         Stereo Eye Separation: 0.06
 97 |         Stereo Focal Distance: 1
 98 |         Swap Stereo Eyes: false
 99 |         Value: false
100 |       Field of View: 0.75
101 |       Focal Point:
102 |         X: -0.1
103 |         Y: 0.25
104 |         Z: 0.30
105 |       Focal Shape Fixed Size: true
106 |       Focal Shape Size: 0.05
107 |       Invert Z Axis: false
108 |       Name: Current View
109 |       Near Clip Distance: 0.01
110 |       Pitch: 0.5
111 |       Target Frame: panda_link0
112 |       Yaw: -0.6232355833053589
113 |     Saved: ~
114 | Window Geometry:
115 |   Displays:
116 |     collapsed: false
117 |   Height: 848
118 |   Help:
119 |     collapsed: false
120 |   Hide Left Dock: false
121 |   Hide Right Dock: false
122 |   MotionPlanning:
123 |     collapsed: false
124 |   MotionPlanning - Trajectory Slider:
125 |     collapsed: false
126 |   QMainWindow State: 000000ff00000000fd0000000100000000000001f0000002f6fc0200000007fb000000100044006900730070006c006100790073010000003d00000173000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001b60000017d0000017d00ffffff00000315000002f600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
127 |   Views:
128 |     collapsed: false
129 |   Width: 1291
130 |   X: 454
131 |   Y: 25
132 | 


--------------------------------------------------------------------------------
/config/arm.xacro:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" encoding="UTF-8"?>
 2 | <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
 3 |     <xacro:macro name="arm" params="name tip_link">
 4 |         <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
 5 |         <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
 6 |         <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
 7 |         <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
 8 |         <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
 9 |         <group name="${name}">
10 |             <chain base_link="$(arg arm_id)_link0" tip_link="${tip_link}" />
11 |         </group>
12 |         <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
13 |         <group_state name="ready" group="${name}">
14 |             <joint name="$(arg arm_id)_joint1" value="0" />
15 |             <joint name="$(arg arm_id)_joint2" value="${-pi/4}" />
16 |             <joint name="$(arg arm_id)_joint3" value="0" />
17 |             <joint name="$(arg arm_id)_joint4" value="${-3*pi/4}" />
18 |             <joint name="$(arg arm_id)_joint5" value="0" />
19 |             <joint name="$(arg arm_id)_joint6" value="${pi/2}" />
20 |             <joint name="$(arg arm_id)_joint7" value="${pi/4}" />
21 |         </group_state>
22 |         <group_state name="extended" group="${name}">
23 |             <joint name="$(arg arm_id)_joint1" value="0" />
24 |             <joint name="$(arg arm_id)_joint2" value="0" />
25 |             <joint name="$(arg arm_id)_joint3" value="0" />
26 |             <joint name="$(arg arm_id)_joint4" value="-0.1" />
27 |             <joint name="$(arg arm_id)_joint5" value="0" />
28 |             <joint name="$(arg arm_id)_joint6" value="${pi}" />
29 |             <joint name="$(arg arm_id)_joint7" value="${pi/4}" />
30 |         </group_state>
31 |     </xacro:macro>
32 | 
33 |     <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
34 |     <virtual_joint name="virtual_joint" type="fixed" parent_frame="world" child_link="$(arg arm_id)_link0" />
35 | 
36 |     <xacro:macro name="disable_collisions_for" params="link:=^ others:=^">
37 |         <xacro:if value="${others}">
38 |             <xacro:property name="other" value="${others.pop(0)}" />
39 |             <disable_collisions link1="${link}" link2="${other}" reason="Never" />
40 |             <!-- recursively call -->
41 |             <xacro:disable_collisions_for />
42 |         </xacro:if>
43 |     </xacro:macro>
44 |     <xacro:macro name="enable_collisions_for" params="link:=^ others:=^">
45 |         <xacro:if value="${others}">
46 |             <xacro:property name="other" value="${others.pop(0)}" />
47 |             <enable_collisions link1="${link}" link2="${other}" />
48 |             <!-- recursively call -->
49 |             <xacro:enable_collisions_for />
50 |         </xacro:if>
51 |     </xacro:macro>
52 |     <xacro:macro name="configure_collisions" params="link enabled:=${[]}">
53 |         <!-- Disable collision checking between normal links, as these are handled by "sc" links -->
54 |         <xacro:property name="link_fmt" value="$(arg arm_id)_link{}" />
55 |         <xacro:disable_collisions_for link="${link_fmt.format(link)}" others="${[link_fmt.format(i) for i in python.range(8)]}" />
56 | 
57 |         <!-- Disable all collision checking for ${link}_sc -->
58 |         <xacro:property name="link_fmt" value="$(arg arm_id)_link{}_sc" />
59 |         <disable_default_collisions link="${link_fmt.format(link)}" />
60 |         <!-- Re-enable collisions checking for selected links -->
61 |         <xacro:enable_collisions_for link="${link_fmt.format(link)}" others="${[link_fmt.format(i) for i in enabled]}" />
62 |     </xacro:macro>
63 | 
64 |     <!-- Configure ACM -->
65 |     <xacro:configure_collisions link="0" enabled="${[5,6,7]}" />
66 |     <xacro:configure_collisions link="1" enabled="${[5,6,7]}" />
67 |     <xacro:configure_collisions link="2" enabled="${[5,6,7]}" />
68 |     <xacro:configure_collisions link="3" enabled="${[7]}" />
69 |     <xacro:configure_collisions link="4" />
70 |     <xacro:configure_collisions link="5" />
71 |     <xacro:configure_collisions link="6" />
72 |     <xacro:configure_collisions link="7" />
73 | </robot>
74 | 


--------------------------------------------------------------------------------
/launch/moveit_scene.rviz:
--------------------------------------------------------------------------------
  1 | Panels:
  2 |   - Class: rviz/Displays
  3 |     Help Height: 84
  4 |     Name: Displays
  5 |     Property Tree Widget:
  6 |       Expanded: ~
  7 |       Splitter Ratio: 0.5
  8 |     Tree Height: 542
  9 |   - Class: rviz/Help
 10 |     Name: Help
 11 |   - Class: rviz/Views
 12 |     Expanded:
 13 |       - /Current View1
 14 |     Name: Views
 15 |     Splitter Ratio: 0.5
 16 |   - Class: rviz_visual_tools/RvizVisualToolsGui
 17 |     Name: RvizVisualToolsGui
 18 | Preferences:
 19 |   PromptSaveOnExit: true
 20 | Toolbars:
 21 |   toolButtonStyle: 2
 22 | Visualization Manager:
 23 |   Class: ""
 24 |   Displays:
 25 |     - Alpha: 0.5
 26 |       Cell Size: 1
 27 |       Class: rviz/Grid
 28 |       Color: 160; 160; 164
 29 |       Enabled: true
 30 |       Line Style:
 31 |         Line Width: 0.03
 32 |         Value: Lines
 33 |       Name: Grid
 34 |       Normal Cell Count: 0
 35 |       Offset:
 36 |         X: 0
 37 |         Y: 0
 38 |         Z: 0
 39 |       Plane: XY
 40 |       Plane Cell Count: 10
 41 |       Reference Frame: <Fixed Frame>
 42 |       Value: true
 43 |     - Class: rviz/MarkerArray
 44 |       Enabled: true
 45 |       Marker Topic: rviz_visual_tools
 46 |       Name: MarkerArray
 47 |       Namespaces:
 48 |         {}
 49 |       Queue Size: 100
 50 |       Value: true
 51 |     - Class: moveit_rviz_plugin/Trajectory
 52 |       Color Enabled: false
 53 |       Enabled: true
 54 |       Interrupt Display: false
 55 |       Links: ~
 56 |       Loop Animation: false
 57 |       Name: Trajectory
 58 |       Robot Alpha: 0.5
 59 |       Show Robot Collision: false
 60 |       Show Robot Visual: true
 61 |       Show Trail: false
 62 |       State Display Time: 3x
 63 |       Trail Step Size: 1
 64 |       Trajectory Topic: move_group/display_planned_path
 65 |       Value: true
 66 |     - Class: moveit_rviz_plugin/PlanningScene
 67 |       Enabled: true
 68 |       Move Group Namespace: ""
 69 |       Name: PlanningScene
 70 |       Planning Scene Topic: move_group/monitored_planning_scene
 71 |       Robot Description: robot_description
 72 |       Scene Geometry:
 73 |         Scene Alpha: 0.9
 74 |         Show Scene Geometry: true
 75 |         Voxel Coloring: Z-Axis
 76 |         Voxel Rendering: Occupied Voxels
 77 |       Scene Robot:
 78 |         Attached Body Color: 150; 50; 150
 79 |         Links: ~
 80 |         Robot Alpha: 1
 81 |         Show Robot Collision: false
 82 |         Show Robot Visual: true
 83 |       Value: true
 84 |   Enabled: true
 85 |   Global Options:
 86 |     Background Color: 48; 48; 48
 87 |     Default Light: true
 88 |     Fixed Frame: panda_link0
 89 |     Frame Rate: 30
 90 |   Name: root
 91 |   Tools:
 92 |     - Class: rviz/Interact
 93 |       Hide Inactive Objects: true
 94 |     - Class: rviz/MoveCamera
 95 |     - Class: rviz/Select
 96 |     - Class: rviz_visual_tools/KeyTool
 97 |   Value: true
 98 |   Views:
 99 |     Current:
100 |       Class: rviz/Orbit
101 |       Distance: 2.0
102 |       Enable Stereo Rendering:
103 |         Stereo Eye Separation: 0.06
104 |         Stereo Focal Distance: 1
105 |         Swap Stereo Eyes: false
106 |         Value: false
107 |       Field of View: 0.75
108 |       Focal Point:
109 |         X: -0.1
110 |         Y: 0.25
111 |         Z: 0.30
112 |       Focal Shape Fixed Size: true
113 |       Focal Shape Size: 0.05
114 |       Invert Z Axis: false
115 |       Name: Current View
116 |       Near Clip Distance: 0.01
117 |       Pitch: 0.5
118 |       Target Frame: panda_link0
119 |       Yaw: -0.6232355833053589
120 |     Saved: ~
121 | Window Geometry:
122 |   Displays:
123 |     collapsed: false
124 |   Height: 848
125 |   Help:
126 |     collapsed: false
127 |   Hide Left Dock: false
128 |   Hide Right Dock: false
129 |   QMainWindow State: 000000ff00000000fd0000000100000000000001f0000002f6fc0200000009fb000000100044006900730070006c006100790073010000003d000002af000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006700000001ab000001880000000000000000fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffb00000024005200760069007a00560069007300750061006c0054006f006f006c007300470075006901000002f2000000410000004100ffffff00000315000002f600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
130 |   RvizVisualToolsGui:
131 |     collapsed: false
132 |   Trajectory - Slider:
133 |     collapsed: false
134 |   Views:
135 |     collapsed: false
136 |   Width: 1291
137 |   X: 449
138 |   Y: 25
139 | 


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/launch/move_group.launch:
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  1 | <launch>
  2 | 
  3 |   <!-- GDB Debug Option -->
  4 |   <arg name="debug" default="false" />
  5 |   <arg unless="$(arg debug)" name="launch_prefix" value="" />
  6 |   <arg     if="$(arg debug)" name="launch_prefix"
  7 |            value="gdb -x $(dirname)/gdb_settings.gdb --ex run --args" />
  8 | 
  9 |   <!-- Verbose Mode Option -->
 10 |   <arg name="info" default="$(arg debug)" />
 11 |   <arg unless="$(arg info)" name="command_args" value="" />
 12 |   <arg     if="$(arg info)" name="command_args" value="--debug" />
 13 | 
 14 |   <!-- move_group settings -->
 15 |   <arg name="pipeline" default="ompl" />
 16 |   <arg name="allow_trajectory_execution" default="true"/>
 17 |   <arg name="moveit_controller_manager" default="simple" />
 18 |   <arg name="fake_execution_type" default="interpolate"/>
 19 |   <arg name="max_safe_path_cost" default="1"/>
 20 |   <arg name="publish_monitored_planning_scene" default="true"/>
 21 | 
 22 |   <arg name="capabilities" default=""/>
 23 |   <arg name="disable_capabilities" default=""/>
 24 | 
 25 |   <!--Other settings-->
 26 |   <arg name="load_gripper" default="true" />
 27 |   <arg name="transmission" default="effort" />
 28 |   <arg name="arm_id" default="panda" />
 29 | 
 30 |   <!-- load these non-default MoveGroup capabilities (space seperated) -->
 31 |   <!--
 32 |   <arg name="capabilities" value="
 33 |                 a_package/AwsomeMotionPlanningCapability
 34 |                 another_package/GraspPlanningPipeline
 35 |                 " />
 36 |   -->
 37 | 
 38 |   <!-- inhibit these default MoveGroup capabilities (space seperated) -->
 39 |   <!--
 40 |   <arg name="disable_capabilities" value="
 41 |                 move_group/MoveGroupKinematicsService
 42 |                 move_group/ClearOctomapService
 43 |                 " />
 44 |   -->
 45 | 
 46 |   <arg name="load_robot_description" default="true" />
 47 |   <!-- load URDF, SRDF and joint_limits configuration -->
 48 |   <include file="$(dirname)/planning_context.launch">
 49 |     <arg name="load_robot_description" value="$(arg load_robot_description)" />
 50 |     <arg name="load_gripper" value="$(arg load_gripper)" />
 51 |     <arg name="arm_id" value="$(arg arm_id)" />
 52 |   </include>
 53 | 
 54 |   <!-- Planning Pipelines -->
 55 |   <group ns="move_group/planning_pipelines">
 56 | 
 57 |     <!-- OMPL -->
 58 |     <include file="$(dirname)/planning_pipeline.launch.xml">
 59 |       <arg name="pipeline" value="ompl" />
 60 |       <arg name="arm_id" value="$(arg arm_id)" />
 61 |     </include>
 62 | 
 63 |     <!-- CHOMP -->
 64 |     <include file="$(dirname)/planning_pipeline.launch.xml">
 65 |       <arg name="pipeline" value="chomp" />
 66 |       <arg name="arm_id" value="$(arg arm_id)" />
 67 |     </include>
 68 | 
 69 |     <!-- Pilz Industrial Motion -->
 70 |     <include file="$(dirname)/planning_pipeline.launch.xml">
 71 |       <arg name="pipeline" value="pilz_industrial_motion_planner" />
 72 |       <arg name="arm_id" value="$(arg arm_id)" />
 73 |     </include>
 74 | 
 75 |     <!-- Support custom planning pipeline -->
 76 |     <include if="$(eval arg('pipeline') not in ['ompl', 'chomp', 'pilz_industrial_motion_planner'])"
 77 |              file="$(dirname)/planning_pipeline.launch.xml">
 78 |       <arg name="pipeline" value="$(arg pipeline)" />
 79 |       <arg name="arm_id" value="$(arg arm_id)" />
 80 |     </include>
 81 |   </group>
 82 | 
 83 |   <!-- Trajectory Execution Functionality -->
 84 |   <include ns="move_group" file="$(dirname)/trajectory_execution.launch.xml" pass_all_args="true" if="$(arg allow_trajectory_execution)">
 85 |     <arg name="moveit_manage_controllers" value="true" />
 86 |   </include>
 87 | 
 88 |   <!-- Sensors Functionality -->
 89 |   <include ns="move_group" file="$(dirname)/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
 90 |     <arg name="moveit_sensor_manager" value="panda" />
 91 |   </include>
 92 | 
 93 |   <!-- Start the actual move_group node/action server -->
 94 |   <node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)">
 95 |     <!-- Set the display variable, in case OpenGL code is used internally -->
 96 |     <env name="DISPLAY" value="$(optenv DISPLAY :0)" />
 97 | 
 98 |     <param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
 99 |     <param name="sense_for_plan/max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
100 |     <param name="default_planning_pipeline" value="$(arg pipeline)" />
101 |     <param name="capabilities" value="$(arg capabilities)" />
102 |     <param name="disable_capabilities" value="$(arg disable_capabilities)" />
103 | 
104 |     <!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
105 |     <param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />
106 |     <param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" />
107 |     <param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)" />
108 |     <param name="planning_scene_monitor/publish_transforms_updates" value="$(arg publish_monitored_planning_scene)" />
109 |   </node>
110 | 
111 | </launch>
112 | 


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/config/ompl_planning.yaml:
--------------------------------------------------------------------------------
  1 | planner_configs:
  2 |   AnytimePathShortening:
  3 |     type: geometric::AnytimePathShortening
  4 |     shortcut: true  # Attempt to shortcut all new solution paths
  5 |     hybridize: true  # Compute hybrid solution trajectories
  6 |     max_hybrid_paths: 24  # Number of hybrid paths generated per iteration
  7 |     num_planners: 4  # The number of default planners to use for planning
  8 |     planners: ""  # 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]"
  9 |   SBL:
 10 |     type: geometric::SBL
 11 |     range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
 12 |   EST:
 13 |     type: geometric::EST
 14 |     range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
 15 |     goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
 16 |   LBKPIECE:
 17 |     type: geometric::LBKPIECE
 18 |     range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
 19 |     border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
 20 |     min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
 21 |   BKPIECE:
 22 |     type: geometric::BKPIECE
 23 |     range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
 24 |     border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
 25 |     failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
 26 |     min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
 27 |   KPIECE:
 28 |     type: geometric::KPIECE
 29 |     range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
 30 |     goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
 31 |     border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9 (0.0,1.]
 32 |     failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
 33 |     min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
 34 |   RRT:
 35 |     type: geometric::RRT
 36 |     range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
 37 |     goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
 38 |   RRTConnect:
 39 |     type: geometric::RRTConnect
 40 |     range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
 41 |   RRTstar:
 42 |     type: geometric::RRTstar
 43 |     range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
 44 |     goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
 45 |     delay_collision_checking: 1  # Stop collision checking as soon as C-free parent found. default 1
 46 |   TRRT:
 47 |     type: geometric::TRRT
 48 |     range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
 49 |     goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
 50 |     max_states_failed: 10  # when to start increasing temp. default: 10
 51 |     temp_change_factor: 2.0  # how much to increase or decrease temp. default: 2.0
 52 |     min_temperature: 10e-10  # lower limit of temp change. default: 10e-10
 53 |     init_temperature: 10e-6  # initial temperature. default: 10e-6
 54 |     frontier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
 55 |     frontier_node_ratio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
 56 |     k_constant: 0.0  # value used to normalize expresssion. default: 0.0 set in setup()
 57 |   PRM:
 58 |     type: geometric::PRM
 59 |     max_nearest_neighbors: 10  # use k nearest neighbors. default: 10
 60 |   PRMstar:
 61 |     type: geometric::PRMstar
 62 |   FMT:
 63 |     type: geometric::FMT
 64 |     num_samples: 1000  # number of states that the planner should sample. default: 1000
 65 |     radius_multiplier: 1.1  # multiplier used for the nearest neighbors search radius. default: 1.1
 66 |     nearest_k: 1  # use Knearest strategy. default: 1
 67 |     cache_cc: 1  # use collision checking cache. default: 1
 68 |     heuristics: 0  # activate cost to go heuristics. default: 0
 69 |     extended_fmt: 1  # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1
 70 |   BFMT:
 71 |     type: geometric::BFMT
 72 |     num_samples: 1000  # number of states that the planner should sample. default: 1000
 73 |     radius_multiplier: 1.0  # multiplier used for the nearest neighbors search radius. default: 1.0
 74 |     nearest_k: 1  # use the Knearest strategy. default: 1
 75 |     balanced: 0  # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1
 76 |     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
 77 |     heuristics: 1  # activates cost to go heuristics. default: 1
 78 |     cache_cc: 1  # use the collision checking cache. default: 1
 79 |     extended_fmt: 1  # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1
 80 |   PDST:
 81 |     type: geometric::PDST
 82 |   STRIDE:
 83 |     type: geometric::STRIDE
 84 |     range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
 85 |     goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
 86 |     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
 87 |     degree: 16  # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16
 88 |     max_degree: 18  # max degree of a node in the GNAT. default: 12
 89 |     min_degree: 12  # min degree of a node in the GNAT. default: 12
 90 |     max_pts_per_leaf: 6  # max points per leaf in the GNAT. default: 6
 91 |     estimated_dimension: 0.0  # estimated dimension of the free space. default: 0.0
 92 |     min_valid_path_fraction: 0.2  # Accept partially valid moves above fraction. default: 0.2
 93 |   BiTRRT:
 94 |     type: geometric::BiTRRT
 95 |     range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
 96 |     temp_change_factor: 0.1  # how much to increase or decrease temp. default: 0.1
 97 |     init_temperature: 100  # initial temperature. default: 100
 98 |     frontier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
 99 |     frontier_node_ratio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
100 |     cost_threshold: 1e300  # the cost threshold. Any motion cost that is not better will not be expanded. default: inf
101 |   LBTRRT:
102 |     type: geometric::LBTRRT
103 |     range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
104 |     goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
105 |     epsilon: 0.4  # optimality approximation factor. default: 0.4
106 |   BiEST:
107 |     type: geometric::BiEST
108 |     range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
109 |   ProjEST:
110 |     type: geometric::ProjEST
111 |     range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
112 |     goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
113 |   LazyPRM:
114 |     type: geometric::LazyPRM
115 |     range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
116 |   LazyPRMstar:
117 |     type: geometric::LazyPRMstar
118 |   SPARS:
119 |     type: geometric::SPARS
120 |     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
121 |     sparse_delta_fraction: 0.25  # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
122 |     dense_delta_fraction: 0.001  # delta fraction for interface detection. default: 0.001
123 |     max_failures: 1000  # maximum consecutive failure limit. default: 1000
124 |   SPARStwo:
125 |     type: geometric::SPARStwo
126 |     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
127 |     sparse_delta_fraction: 0.25  # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
128 |     dense_delta_fraction: 0.001  # delta fraction for interface detection. default: 0.001
129 |     max_failures: 5000  # maximum consecutive failure limit. default: 5000
130 |   AITstar:
131 |     type: geometric::AITstar
132 |     use_k_nearest: 1  # whether to use a k-nearest RGG connection model (1) or an r-disc model (0). Default: 1
133 |     rewire_factor: 1.001  # rewire factor of the RGG. Valid values: [1.0:0.01:3.0]. Default: 1.001
134 |     samples_per_batch: 100  # batch size. Valid values: [1:1:1000]. Default: 100
135 |     use_graph_pruning: 1  # enable graph pruning (1) or not (0). Default: 1
136 |     find_approximate_solutions: 0  # track approximate solutions (1) or not (0). Default: 0
137 |     set_max_num_goals: 1  # maximum number of goals sampled from sampleable goal regions. Valid values: [1:1:1000]. Default: 1
138 |   ABITstar:
139 |     type: geometric::ABITstar
140 |     use_k_nearest: 1  # whether to use a k-nearest RGG connection model (1) or an r-disc model (0). Default: 1
141 |     rewire_factor: 1.001  # rewire factor of the RGG. Valid values: [1.0:0.01:3.0]. Default: 1.001
142 |     samples_per_batch: 100  # batch size. Valid values: [1:1:1000]. Default: 100
143 |     use_graph_pruning: 1  # enable graph pruning (1) or not (0). Default: 1
144 |     prune_threshold_as_fractional_cost_change: 0.1  # fractional change in the solution cost AND problem measure necessary for pruning to occur. Default: 0.1
145 |     delay_rewiring_to_first_solution: 0  # delay (1) or not (0) rewiring until a solution is found. Default: 0
146 |     use_just_in_time_sampling: 0  # delay the generation of samples until they are * necessary. Only works with r-disc connection and path length minimization. Default: 0
147 |     drop_unconnected_samples_on_prune: 0  # drop unconnected samples when pruning, regardless of their heuristic value. Default: 0
148 |     stop_on_each_solution_improvement: 0  # stop the planner each time a solution improvement is found. Useful for debugging. Default: 0
149 |     use_strict_queue_ordering: 0  # sort edges in the queue at the end of the batch (0) or after each rewiring (1). Default: 0
150 |     find_approximate_solutions: 0  # track approximate solutions (1) or not (0). Default: 0
151 |     initial_inflation_factor: 1000000  # inflation factor for the initial search. Valid values: [1.0:0.01:1000000.0]. Default: 1000000
152 |     inflation_scaling_parameter: 10  # scaling parameter for the inflation factor update policy. Valid values: [1.0:0.01:1000000.0]. Default: 0
153 |     truncation_scaling_parameter: 5.0  # scaling parameter for the truncation factor update policy. Valid values: [1.0:0.01:1000000.0]. Default: 0
154 |   BITstar:
155 |     type: geometric::BITstar
156 |     use_k_nearest: 1  # whether to use a k-nearest RGG connection model (1) or an r-disc model (0). Default: 1
157 |     rewire_factor: 1.001  # rewire factor of the RGG. Valid values: [1.0:0.01:3.0]. Default: 1.001
158 |     samples_per_batch: 100  # batch size. Valid values: [1:1:1000]. Default: 100
159 |     use_graph_pruning: 1  # enable graph pruning (1) or not (0). Default: 1
160 |     prune_threshold_as_fractional_cost_change: 0.1  # fractional change in the solution cost AND problem measure necessary for pruning to occur. Default: 0.1
161 |     delay_rewiring_to_first_solution: 0  # delay (1) or not (0) rewiring until a solution is found. Default: 0
162 |     use_just_in_time_sampling: 0  # delay the generation of samples until they are * necessary. Only works with r-disc connection and path length minimization. Default: 0
163 |     drop_unconnected_samples_on_prune: 0  # drop unconnected samples when pruning, regardless of their heuristic value. Default: 0
164 |     stop_on_each_solution_improvement: 0  # stop the planner each time a solution improvement is found. Useful for debugging. Default: 0
165 |     use_strict_queue_ordering: 0  # sort edges in the queue at the end of the batch (0) or after each rewiring (1). Default: 0
166 |     find_approximate_solutions: 0  # track approximate solutions (1) or not (0). Default: 0
167 | $(arg arm_id)_arm: &arm_config
168 |   planner_configs:
169 |     - AnytimePathShortening
170 |     - SBL
171 |     - EST
172 |     - LBKPIECE
173 |     - BKPIECE
174 |     - KPIECE
175 |     - RRT
176 |     - RRTConnect
177 |     - RRTstar
178 |     - TRRT
179 |     - PRM
180 |     - PRMstar
181 |     - FMT
182 |     - BFMT
183 |     - PDST
184 |     - STRIDE
185 |     - BiTRRT
186 |     - LBTRRT
187 |     - BiEST
188 |     - ProjEST
189 |     - LazyPRM
190 |     - LazyPRMstar
191 |     - SPARS
192 |     - SPARStwo
193 |     - AITstar
194 |     - ABITstar
195 |     - BITstar
196 |   projection_evaluator: joints($(arg arm_id)_joint1,$(arg arm_id)_joint2)
197 |   longest_valid_segment_fraction: 0.005
198 | $(arg arm_id)_manipulator: *arm_config
199 | $(arg arm_id)_hand:
200 |   planner_configs:
201 |     - AnytimePathShortening
202 |     - SBL
203 |     - EST
204 |     - LBKPIECE
205 |     - BKPIECE
206 |     - KPIECE
207 |     - RRT
208 |     - RRTConnect
209 |     - RRTstar
210 |     - TRRT
211 |     - PRM
212 |     - PRMstar
213 |     - FMT
214 |     - BFMT
215 |     - PDST
216 |     - STRIDE
217 |     - BiTRRT
218 |     - LBTRRT
219 |     - BiEST
220 |     - ProjEST
221 |     - LazyPRM
222 |     - LazyPRMstar
223 |     - SPARS
224 |     - SPARStwo
225 |     - AITstar
226 |     - ABITstar
227 |     - BITstar
228 | 


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