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added STOMP related planning files #5

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merged 3 commits into from Jul 5, 2018

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raghavendersahdev commented Jun 29, 2018

This pull request adds the following files for running the STOMP motion planner:

  • stomp_planning.yaml
  • stomp_planning_pipeline.launch.xml
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raghavendersahdev commented Jun 29, 2018

@davetcoleman @mlautman , I added the stomp related files to this repo as I am giving their reference in the STOMP tutorials in the moveit_tutorials folder in this PR #185

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This is great! I hope we can add these files as moveit setup assistant files also

collision_threshold: 0.07
random_jump_amount: 1.0
use_stochastic_descent: true
trajectory_interpolation_method: "linear"

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this PR should only focus on STOMP per title, why mix these CHOMP changes in?

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removed this CHOMP change, this was for the additional functionality I added for initialization in CHOMP for PR#960

@@ -0,0 +1,39 @@
stomp/manipulator_rail:

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whats a "rail"?

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I forgot to change this, sorry, my bad! corrected to stomp/panda_arm

num_iterations_after_valid: 0
num_rollouts: 30
max_rollouts: 30
initialization_method: 1 #[1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST

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remove the [ in comment ?

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done, I completed the open square bracket by adding ] at the end

@@ -46,7 +46,6 @@

<!-- Run Rviz and load the default config to see the state of the move_group node -->
<include file="$(find panda_moveit_config)/launch/moveit_rviz.launch">
<arg name="config" value="true"/>

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please keep this PR to stomp only (remove this change)

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done removed this change

@@ -3,7 +3,7 @@ max_iterations: 200
max_iterations_after_collision_free: 5

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this is still a CHOMP change, remove

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removed all chomp changes

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raghavendersahdev commented Jul 1, 2018

Sure @davetcoleman , I will also add these files as moveit setup assistant files

@davetcoleman davetcoleman requested a review from mlautman Jul 4, 2018

@mlautman mlautman merged commit 320a27c into ros-planning:master Jul 5, 2018

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MohmadAyman commented Jul 10, 2018

This looks great!

@raghavendersahdev I can add these file to the setup assistant if you don't mind.

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raghavendersahdev commented Jul 10, 2018

Hi @MohmadAyman I already added these files to the setup assistant in this commit in my PR here. Will let you know once the PR gets merged.

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