Add STOMP planner config (#171)

Co-authored-by: Henning Kayser <henningkayser@picknik.ai>
moveit · May 14, 2023 · d4807d8 · d4807d8
1 parent 98c3656
commit d4807d8
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Showing 2 changed files with 18 additions and 1 deletion.
diff --git a/panda_moveit_config/config/stomp_planning.yaml b/panda_moveit_config/config/stomp_planning.yaml
@@ -0,0 +1,17 @@
+planning_plugin: stomp_moveit/StompPlanner
+request_adapters: >-
+  default_planner_request_adapters/AddTimeOptimalParameterization
+  default_planner_request_adapters/FixWorkspaceBounds
+  default_planner_request_adapters/FixStartStateBounds
+  default_planner_request_adapters/FixStartStateCollision
+  default_planner_request_adapters/FixStartStatePathConstraints
+
+stomp_moveit:
+  num_timesteps: 60
+  num_iterations: 40
+  num_iterations_after_valid: 0
+  num_rollouts: 30
+  max_rollouts: 30
+  exponentiated_cost_sensitivity: 0.5
+  control_cost_weight: 0.1
+  delta_t: 0.1
diff --git a/panda_moveit_config/launch/demo.launch.py b/panda_moveit_config/launch/demo.launch.py
@@ -39,7 +39,7 @@ def generate_launch_description():
         .robot_description_semantic(file_path="config/panda.srdf")
         .trajectory_execution(file_path="config/gripper_moveit_controllers.yaml")
         .planning_pipelines(
-            pipelines=["ompl", "chomp", "pilz_industrial_motion_planner"]
+            pipelines=["ompl", "chomp", "pilz_industrial_motion_planner", "stomp"]
         )
         .to_moveit_configs()
     )