2025-05-22 07:22:55 +00:00
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# Copyright 2025 Reazon Holdings, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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2025-03-28 09:05:38 +00:00
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openarm_moveit_config:
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default_planner_config: RRTConnect
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planner_configs:
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- AnytimePathShortening
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- SBL
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- EST
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- LBKPIECE
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- BKPIECE
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- KPIECE
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- RRT
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- RRTConnect
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- RRTstar
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- TRRT
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- PRM
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- PRMstar
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- FMT
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- BFMT
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- PDST
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- STRIDE
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- BiTRRT
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- LBTRRT
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- BiEST
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- ProjEST
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- LazyPRM
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- LazyPRMstar
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- SPARS
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- SPARStwo
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projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint)
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longest_valid_segment_fraction: 0.005
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planning_plugin: 'ompl_interface/OMPLPlanner'
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request_adapters: >-
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default_planner_request_adapters/AddTimeOptimalParameterization
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default_planner_request_adapters/FixWorkspaceBounds
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default_planner_request_adapters/FixStartStateBounds
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default_planner_request_adapters/FixStartStateCollision
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default_planner_request_adapters/FixStartStatePathConstraints
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start_state_max_bounds_error: 0.1
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