/benchmark_planning_setups

ROS support packages and MoveIt configurations for motion planning benchmarking.

Primary LanguagePythonApache License 2.0Apache-2.0

benchmark_planning_setups

ROS support packages and MoveIt configurations for motion planning benchmarking.

Work objects

By default no work object is loaded in the scene. You can specify one as a command line argument:

roslaunch setup_1_support display.launch work:=l_profile

for visualization and

roslaunch setup_1_moveit_config demo.launch work:=l_profile

for the full planning context.

There are 4 objects at the moment:

  • nothing: an empty urdf. (But with a work link, because this is part of the fixed interface.)
  • boxes: 3 boxes in between which the end-effector can try to move.
  • l_profile: a simple L-shaped object where you can weld the corner.
  • kingpin: a slightly more complex part based on a real world example.

The task specification is also specified in the setup_1_support/tasks/ folder as 'irl' files. (Industrial robot language, a made up language to specify robot tasks.) The poses defined in these files are automatically published by the launch files mentioned, using the setup_1_support/scripts/publish_work_poses.py script.