diff --git a/config/ompl_planning.yaml b/config/ompl_planning.yaml index 15ad2fd79e568b84c98efaa463313afe4282bf23..73e38ff53f9993895e4e617f2bd3d8b7e2ef3dcc 100644 --- a/config/ompl_planning.yaml +++ b/config/ompl_planning.yaml @@ -20,7 +20,7 @@ planner_configs: KPIECEkConfigDefault: type: geometric::KPIECE range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 @@ -44,7 +44,7 @@ planner_configs: temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 init_temperature: 10e-6 # initial temperature. default: 10e-6 - frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() PRMkConfigDefault: @@ -75,9 +75,9 @@ planner_configs: STRIDEkConfigDefault: type: geometric::STRIDE range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0 - degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16 + degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16 max_degree: 18 # max degree of a node in the GNAT. default: 12 min_degree: 12 # min degree of a node in the GNAT. default: 12 max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6 @@ -88,13 +88,13 @@ planner_configs: range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1 init_temperature: 100 # initial temperature. default: 100 - frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf LBTRRTkConfigDefault: type: geometric::LBTRRT range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 epsilon: 0.4 # optimality approximation factor. default: 0.4 BiESTkConfigDefault: type: geometric::BiEST @@ -102,7 +102,7 @@ planner_configs: ProjESTkConfigDefault: type: geometric::ProjEST range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 LazyPRMkConfigDefault: type: geometric::LazyPRM range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() @@ -120,6 +120,9 @@ planner_configs: sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 max_failures: 5000 # maximum consecutive failure limit. default: 5000 + TrajOptDefault: + type: geometric::TrajOpt + panda_arm: planner_configs: - SBLkConfigDefault @@ -145,6 +148,7 @@ panda_arm: - LazyPRMstarkConfigDefault - SPARSkConfigDefault - SPARStwokConfigDefault + - TrajOptDefault hand: planner_configs: - SBLkConfigDefault @@ -169,4 +173,5 @@ hand: - LazyPRMkConfigDefault - LazyPRMstarkConfigDefault - SPARSkConfigDefault - - SPARStwokConfigDefault \ No newline at end of file + - SPARStwokConfigDefault + - TrajOptDefault