/moveit_benchmark_resources

Configurations and databases for setting up benchmarks with MoveIt

Primary LanguagePython

MoveIt Benchmark Resources

This repository includes various resources needed for MoveIt benchmarking. Main purpose is to separate out large files like scene databases tracked with Git-LFS.

Databases

The databases are created with yaml_to_warehouse based on Roboflex YAML files provided by the author of MotionBenchMaker (see full_dataset).

  • panda_kitchen_test_db.sqlite: Contains a scene kitchen_panda_scene_sensed1 with multiple planning queries
  • panda_benchmarks.sqlite: Contains different scenes with a motion planning query for each scene for a panda arm.
  • ur_benchmarks.sqlite: Contains different scenes with a motion planning query for each scene for a ur5 arm.

Scene names (0001 - 0010) in panda_benchmarks.sqlite (ROBOT is panda) and ur_benchmarks.sqlite (ROBOT is ur5):

  • bookshelf_small_ROBOT/scene0001.yaml
  • bookshelf_small_ROBOT/scene_sensed0001.yaml
  • bookshelf_tall_ROBOT/scene0001.yaml
  • bookshelf_tall_ROBOT/scene_sensed0001.yaml
  • bookshelf_thin_ROBOT/scene0001.yaml
  • bookshelf_thin_ROBOT/scene_sensed0001.yaml
  • cage_ROBOT/scene0001.yaml
  • cage_ROBOT/scene_sensed0001.yaml
  • kitchen_ROBOT/scene0001.yaml
  • kitchen_ROBOT/scene_sensed0001.yaml
  • table_bars_ROBOT/scene0001.yaml
  • table_bars_ROBOT/scene_sensed0001.yaml
  • table_pick_ROBOT/scene0001.yaml
  • table_pick_ROBOT/scene_sensed0001.yaml
  • table_under_pick_ROBOT/scene0001.yaml
  • table_under_pick_ROBOT/scene_sensed0001.yaml

Notes

Please install git lfs by running git lfs install if you plan to use the sqlite test databases.