Skip to content

Add AnytimePathShortening to ada_moveit #50

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 5 commits into from
Feb 5, 2025
Merged

Add AnytimePathShortening to ada_moveit #50

Changes from 1 commit
Commits
Show all changes
5 commits
Select commit Hold shift + click to select a range
950a83b
Add Anytime Path Shortening
amalnanavati Nov 14, 2024
a2cd3e0
Tune parameters
amalnanavati Dec 2, 2024
c36c20c
Run pre-commit
amalnanavati Dec 16, 2024
ee14f35
Switch to RRT*-Inf
amalnanavati Feb 5, 2025
ec0d954
Merge branch 'main' into amaln/path-shortening
amalnanavati Feb 5, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
Next Next commit
Add Anytime Path Shortening
  • Loading branch information
@amalnanavati
amalnanavati committed Dec 16, 2024
commit 950a83b0267ff4442f86005762b0123b6f9ccdc7
8 changes: 8 additions & 0 deletions ada_moveit/config/ompl_planning.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,13 @@ request_adapters: >-
default_planner_request_adapters/FixWorkspaceBounds
# Based on Kinova's parameters: https://github.com/Kinovarobotics/kinova-ros/blob/noetic-devel/kinova_moveit/robot_configs/j2n6s300_moveit_config/config/ompl_planning.yaml
planner_configs:
AnytimePathShortening:
type: geometric::AnytimePathShortening
shortcut: 1 # Attempt to shortcut all new solution paths
hybridize: 1 # Compute hybrid solution trajectories
max_hybrid_paths: 24 # Number of hybrid paths generated per iteration
num_planners: 4 # The number of default planners to use for planning
planners: "RRTConnect" # 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]"
SBLkConfigDefault:
type: geometric::SBL
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
Expand Down Expand Up @@ -68,6 +75,7 @@ jaco_arm:
enforce_constrained_state_space: true
projection_evaluator: joints(j2n6s200_joint_1,j2n6s200_joint_2)
planner_configs:
- AnytimePathShortening
- SBLkConfigDefault
- ESTkConfigDefault
- LBKPIECEkConfigDefault
Expand Down