From 4206959d4fdbf1079ab2d531d1a5e576c62a72f6 Mon Sep 17 00:00:00 2001 From: Rick Staa <rick.staa@outlook.com> Date: Wed, 13 Oct 2021 20:46:11 +0200 Subject: [PATCH] Add CHOMP config files * Add demo_chomp.launch * Restore original 'chomp_planning.yaml' config * Add CHOMP post-processing example, using OMPL+CHOMP --- config/chomp_planning.yaml | 6 +++--- launch/demo_chomp.launch | 5 +++++ .../ompl-chomp_planning_pipeline.launch.xml | 19 +++++++++++++++++++ 3 files changed, 27 insertions(+), 3 deletions(-) create mode 100644 launch/demo_chomp.launch create mode 100644 launch/ompl-chomp_planning_pipeline.launch.xml diff --git a/config/chomp_planning.yaml b/config/chomp_planning.yaml index c14a673..eb9c912 100644 --- a/config/chomp_planning.yaml +++ b/config/chomp_planning.yaml @@ -7,12 +7,12 @@ learning_rate: 0.01 smoothness_cost_velocity: 0.0 smoothness_cost_acceleration: 1.0 smoothness_cost_jerk: 0.0 -ridge_factor: 0.01 +ridge_factor: 0.0 use_pseudo_inverse: false pseudo_inverse_ridge_factor: 1e-4 joint_update_limit: 0.1 collision_clearance: 0.2 collision_threshold: 0.07 use_stochastic_descent: true -enable_failure_recovery: true -max_recovery_attempts: 5 \ No newline at end of file +enable_failure_recovery: false +max_recovery_attempts: 5 diff --git a/launch/demo_chomp.launch b/launch/demo_chomp.launch new file mode 100644 index 0000000..a3051a8 --- /dev/null +++ b/launch/demo_chomp.launch @@ -0,0 +1,5 @@ +<launch> + <include file="$(dirname)/demo.launch"> + <arg name="pipeline" value="chomp"/> + </include> +</launch> diff --git a/launch/ompl-chomp_planning_pipeline.launch.xml b/launch/ompl-chomp_planning_pipeline.launch.xml new file mode 100644 index 0000000..178d2be --- /dev/null +++ b/launch/ompl-chomp_planning_pipeline.launch.xml @@ -0,0 +1,19 @@ +<launch> + <!-- load OMPL planning pipeline, but add the CHOMP planning adapter. --> + <include file="$(find panda_moveit_config)/launch/ompl_planning_pipeline.launch.xml"> + <arg name="planning_adapters" value=" + default_planner_request_adapters/AddTimeParameterization + default_planner_request_adapters/FixWorkspaceBounds + default_planner_request_adapters/FixStartStateBounds + default_planner_request_adapters/FixStartStateCollision + default_planner_request_adapters/FixStartStatePathConstraints + chomp/OptimizerAdapter" + /> + </include> + + <!-- load chomp config --> + <rosparam command="load" file="$(find panda_moveit_config)/config/chomp_planning.yaml"/> + + <!-- override trajectory_initialization_method --> + <param name="trajectory_initialization_method" value="fillTrajectory"/> +</launch> -- GitLab