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ompl_planning.yaml 1.3 KiB
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new moveit_configs for ur5 and ur10
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planner_configs:
  SBLkConfigDefault:
    type: geometric::SBL
  ESTkConfigDefault:
    type: geometric::EST
  LBKPIECEkConfigDefault:
    type: geometric::LBKPIECE
  BKPIECEkConfigDefault:
    type: geometric::BKPIECE
  KPIECEkConfigDefault:
    type: geometric::KPIECE
  RRTkConfigDefault:
    type: geometric::RRT
  RRTConnectkConfigDefault:
    type: geometric::RRTConnect
  RRTstarkConfigDefault:
    type: geometric::RRTstar
  TRRTkConfigDefault:
    type: geometric::TRRT
  PRMkConfigDefault:
    type: geometric::PRM
  PRMstarkConfigDefault:
    type: geometric::PRMstar
manipulator:
  planner_configs:
    - SBLkConfigDefault
    - ESTkConfigDefault
    - LBKPIECEkConfigDefault
    - BKPIECEkConfigDefault
    - KPIECEkConfigDefault
    - RRTkConfigDefault
    - RRTConnectkConfigDefault
    - RRTstarkConfigDefault
    - TRRTkConfigDefault
    - PRMkConfigDefault
    - PRMstarkConfigDefault
  projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint)
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re-run moveit_setup_assistant with new collision meshes  
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  longest_valid_segment_fraction: 0.05
endeffector:
  planner_configs:
    - SBLkConfigDefault
    - ESTkConfigDefault
    - LBKPIECEkConfigDefault
    - BKPIECEkConfigDefault
    - KPIECEkConfigDefault
    - RRTkConfigDefault
    - RRTConnectkConfigDefault
    - RRTstarkConfigDefault
    - TRRTkConfigDefault
    - PRMkConfigDefault
    - PRMstarkConfigDefault