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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,15 @@ | ||
| planning_plugins: | ||
| - chomp_interface/CHOMPPlanner | ||
| enable_failure_recovery: true | ||
| # The order of the elements in the adapter corresponds to the order they are processed by the motion planning pipeline. | ||
| request_adapters: | ||
| - default_planning_request_adapters/ResolveConstraintFrames | ||
| - default_planning_request_adapters/ValidateWorkspaceBounds | ||
| - default_planning_request_adapters/CheckStartStateBounds | ||
| - default_planning_request_adapters/CheckStartStateCollision | ||
| response_adapters: | ||
| - default_planning_response_adapters/AddTimeOptimalParameterization | ||
| - default_planning_response_adapters/ValidateSolution | ||
| - default_planning_response_adapters/DisplayMotionPath | ||
|
|
||
| ridge_factor: 0.01 |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,12 @@ | ||
| planning_plugins: | ||
| - ompl_interface/OMPLPlanner | ||
| # The order of the elements in the adapter corresponds to the order they are processed by the motion planning pipeline. | ||
| request_adapters: | ||
| - default_planning_request_adapters/ResolveConstraintFrames | ||
| - default_planning_request_adapters/ValidateWorkspaceBounds | ||
| - default_planning_request_adapters/CheckStartStateBounds | ||
| - default_planning_request_adapters/CheckStartStateCollision | ||
| response_adapters: | ||
| - default_planning_response_adapters/AddTimeOptimalParameterization | ||
| - default_planning_response_adapters/ValidateSolution | ||
| - default_planning_response_adapters/DisplayMotionPath |
14 changes: 14 additions & 0 deletions
14
ur_moveit_config/config/pilz_industrial_motion_planner_planning.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,14 @@ | ||
| planning_plugins: | ||
| - pilz_industrial_motion_planner/CommandPlanner | ||
| default_planner_config: PTP | ||
| request_adapters: | ||
| - default_planning_request_adapters/ResolveConstraintFrames | ||
| - default_planning_request_adapters/ValidateWorkspaceBounds | ||
| - default_planning_request_adapters/CheckStartStateBounds | ||
| - default_planning_request_adapters/CheckStartStateCollision | ||
| response_adapters: | ||
| - default_planning_response_adapters/ValidateSolution | ||
| - default_planning_response_adapters/DisplayMotionPath | ||
| capabilities: >- | ||
| pilz_industrial_motion_planner/MoveGroupSequenceAction | ||
| pilz_industrial_motion_planner/MoveGroupSequenceService |