From 2428874a51d9834ffc0b0b3048914879e65ba6ba Mon Sep 17 00:00:00 2001 From: Alban Laflaquiere Date: Mon, 10 Apr 2023 18:52:33 +0900 Subject: [PATCH 1/6] Adding AIT*, BIT* and ABIT* to listed OMPL planners. --- doc/ompl_interface/ompl_interface_tutorial.rst | 3 +++ 1 file changed, 3 insertions(+) diff --git a/doc/ompl_interface/ompl_interface_tutorial.rst b/doc/ompl_interface/ompl_interface_tutorial.rst index 1e808f045..939c9e4a9 100644 --- a/doc/ompl_interface/ompl_interface_tutorial.rst +++ b/doc/ompl_interface/ompl_interface_tutorial.rst @@ -65,6 +65,9 @@ Several planners that are part of the OMPL planning library are capable of optim * SPARS * SPARS2 * Transition-based RRT (T-RRT) +* AIT* +* BIT* +* ABIT* OMPL also provides a meta-optimization algorithm called AnytimePathShortening, which repeatedly runs several planners in parallel interleaved with path shortcutting and path hybridization, two techniques that locally optimize a solution path. Although not *proven* optimal, it is often an effective strategy in practice to obtaining near-optimal solution paths. From 3fa6906484a6064ac9da57871b495c5c452a74b2 Mon Sep 17 00:00:00 2001 From: alaflaquiere <46002404+alaflaquiere@users.noreply.github.com> Date: Mon, 15 May 2023 10:25:04 +0900 Subject: [PATCH 2/6] Fix PR suggestions --- doc/ompl_interface/ompl_interface_tutorial.rst | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/doc/ompl_interface/ompl_interface_tutorial.rst b/doc/ompl_interface/ompl_interface_tutorial.rst index 939c9e4a9..b5c60c06e 100644 --- a/doc/ompl_interface/ompl_interface_tutorial.rst +++ b/doc/ompl_interface/ompl_interface_tutorial.rst @@ -65,9 +65,9 @@ Several planners that are part of the OMPL planning library are capable of optim * SPARS * SPARS2 * Transition-based RRT (T-RRT) -* AIT* -* BIT* -* ABIT* +* Adaptively Informed Tree (AIT*) +* Batched Informed Tree (BIT*) +* Advanced Batched Informed Tree (ABIT*) OMPL also provides a meta-optimization algorithm called AnytimePathShortening, which repeatedly runs several planners in parallel interleaved with path shortcutting and path hybridization, two techniques that locally optimize a solution path. Although not *proven* optimal, it is often an effective strategy in practice to obtaining near-optimal solution paths. @@ -76,7 +76,6 @@ Other optimal planners in OMPL but not exposed in MoveIt yet: * RRT# * RRTX * Informed RRT* -* Batch Informed Trees (BIT*) * Sparse Stable RRT * CForest From 30904d71f0a73985b3e969a72503f0320196b01d Mon Sep 17 00:00:00 2001 From: alaflaquiere <46002404+alaflaquiere@users.noreply.github.com> Date: Fri, 27 Oct 2023 22:54:09 +0900 Subject: [PATCH 3/6] Update urdf_srdf_tutorial.rst --- doc/urdf_srdf/urdf_srdf_tutorial.rst | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/doc/urdf_srdf/urdf_srdf_tutorial.rst b/doc/urdf_srdf/urdf_srdf_tutorial.rst index 9356b64a9..3ee89efe1 100644 --- a/doc/urdf_srdf/urdf_srdf_tutorial.rst +++ b/doc/urdf_srdf/urdf_srdf_tutorial.rst @@ -18,10 +18,15 @@ This section contains a set of tips on making sure that the URDF that you genera Special Characters in Joint Names """"""""""""""""""""""""""""""""" -Joint names should not contain any of the following special characters: -,[,],(,), +Joint names should not contain any of the following special characters: ``-``, ``[``, ``]``, ``(``, ``)``. We hope to be able to get rid of these restrictions on the joint names soon. +Special Characters in Link Names +""""""""""""""""""""""""""""""""" +Link names should not contain any of the following characters: ``-``, ``[``, ``]``, ``(``, ``)``. +Link names also should not include any ``/`` character, as Moveit will interpret any such slash as a separator for a subframe (see `Subframes `_). We suggest to use ``_``, ``:``, or ``\`` instead. + Safety Limits """"""""""""" Some URDFs have safety limits set in addition to the joint limits of the robot. Here's an example of the safety controller specified for the Panda head pan joint: :: From 3c11644a2b44244411a9076e38d4c1b228991322 Mon Sep 17 00:00:00 2001 From: alaflaquiere <46002404+alaflaquiere@users.noreply.github.com> Date: Fri, 27 Oct 2023 23:06:25 +0900 Subject: [PATCH 4/6] Update multiple_robot_arms_tutorial.rst --- doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index cbd42a01a..0a765bf58 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -49,7 +49,7 @@ Our multiple arms model has ``right_arm`` and ``left_arm`` robots. Each arm is e Notes: -1. Two arguments ``right_arm`` and ``left_arm`` are defined as prefixes to differentiate the arms and hands names. +1. Two arguments ``right_arm`` and ``left_arm`` are defined as prefixes to differentiate the arms and hands names. Be careful not to use any of the following characters in the prefixes: ``-``, ``[``, ``]``, ``(``, ``)``, ``/``. 2. The arms and hands models are loaded from the ``franka_description`` package, which is installed as a dependency of the ``panda_moveit_config`` package. Ensure the ``franka_description`` package is installed in your ROS environment. From 5b92a7667167fca06c41ce46cd3e1572234f84fc Mon Sep 17 00:00:00 2001 From: alaflaquiere <46002404+alaflaquiere@users.noreply.github.com> Date: Fri, 27 Oct 2023 23:24:55 +0900 Subject: [PATCH 5/6] formatting --- doc/urdf_srdf/urdf_srdf_tutorial.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/urdf_srdf/urdf_srdf_tutorial.rst b/doc/urdf_srdf/urdf_srdf_tutorial.rst index 3ee89efe1..0a2d6cbd8 100644 --- a/doc/urdf_srdf/urdf_srdf_tutorial.rst +++ b/doc/urdf_srdf/urdf_srdf_tutorial.rst @@ -24,7 +24,7 @@ We hope to be able to get rid of these restrictions on the joint names soon. Special Characters in Link Names """"""""""""""""""""""""""""""""" -Link names should not contain any of the following characters: ``-``, ``[``, ``]``, ``(``, ``)``. +Link names should not contain any of the following characters: ``-``, ``[``, ``]``, ``(``, ``)``. Link names also should not include any ``/`` character, as Moveit will interpret any such slash as a separator for a subframe (see `Subframes `_). We suggest to use ``_``, ``:``, or ``\`` instead. Safety Limits From 46616aab87b42ef1b0a155bdc77c642941be22d8 Mon Sep 17 00:00:00 2001 From: alaflaquiere <46002404+alaflaquiere@users.noreply.github.com> Date: Fri, 27 Oct 2023 23:28:35 +0900 Subject: [PATCH 6/6] Update urdf_srdf_tutorial.rst formatting --- doc/urdf_srdf/urdf_srdf_tutorial.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/urdf_srdf/urdf_srdf_tutorial.rst b/doc/urdf_srdf/urdf_srdf_tutorial.rst index 0a2d6cbd8..87a031b51 100644 --- a/doc/urdf_srdf/urdf_srdf_tutorial.rst +++ b/doc/urdf_srdf/urdf_srdf_tutorial.rst @@ -18,7 +18,7 @@ This section contains a set of tips on making sure that the URDF that you genera Special Characters in Joint Names """"""""""""""""""""""""""""""""" -Joint names should not contain any of the following special characters: ``-``, ``[``, ``]``, ``(``, ``)``. +Joint names should not contain any of the following special characters: ``-``, ``[``, ``]``, ``(``, ``)``. We hope to be able to get rid of these restrictions on the joint names soon.