From 85b7f3a4d6c37b35126e33cc1be1dcffe095d5f1 Mon Sep 17 00:00:00 2001
From: Felix Exner <exner@fzi.de>
Date: Tue, 14 May 2024 10:02:41 +0200
Subject: [PATCH] WIP: Add planning parameters

---
 ur_moveit_config/config/chomp_planning.yaml       | 15 +++++++++++++++
 ur_moveit_config/config/ompl_planning.yaml        | 12 ++++++++++++
 .../pilz_industrial_motion_planner_planning.yaml  | 14 ++++++++++++++
 3 files changed, 41 insertions(+)
 create mode 100644 ur_moveit_config/config/chomp_planning.yaml
 create mode 100644 ur_moveit_config/config/ompl_planning.yaml
 create mode 100644 ur_moveit_config/config/pilz_industrial_motion_planner_planning.yaml

diff --git a/ur_moveit_config/config/chomp_planning.yaml b/ur_moveit_config/config/chomp_planning.yaml
new file mode 100644
index 000000000..07c1f32c4
--- /dev/null
+++ b/ur_moveit_config/config/chomp_planning.yaml
@@ -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
diff --git a/ur_moveit_config/config/ompl_planning.yaml b/ur_moveit_config/config/ompl_planning.yaml
new file mode 100644
index 000000000..3bb0acfc8
--- /dev/null
+++ b/ur_moveit_config/config/ompl_planning.yaml
@@ -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
diff --git a/ur_moveit_config/config/pilz_industrial_motion_planner_planning.yaml b/ur_moveit_config/config/pilz_industrial_motion_planner_planning.yaml
new file mode 100644
index 000000000..d0a07ce4c
--- /dev/null
+++ b/ur_moveit_config/config/pilz_industrial_motion_planner_planning.yaml
@@ -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