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‎.gitignore‎

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@@ -4,4 +4,4 @@ doc/manifest.yaml
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doc/html
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build
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Gemfile
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native_build
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native_build

‎_themes/sphinx_rtd_theme/static/fonts/fontawesome-webfont.svg‎

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‎_themes/sphinx_rtd_theme/static/js/modernizr.min.js‎

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‎_themes/sphinx_rtd_theme/static/js/theme.js‎

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parent_li.find('> ul li.current').removeClass('current');
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parent_li.toggleClass('current');
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function toggleCurrent(elem)
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{
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var parent_li = elem.closest('li');
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parent_li.siblings('li.current').removeClass('current');
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parent_li.siblings().find('li.current').removeClass('current');
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parent_li.find('> ul li.current').removeClass('current');
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parent_li.toggleClass('current');
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}
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// Shift nav in mobile when clicking the menu.
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$("[data-toggle='wy-nav-shift']").toggleClass("shift");
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$("[data-toggle='rst-versions']").toggleClass("shift");
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// Nav menu link click operations
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$(document).on('click', ".wy-menu-vertical .current ul li a", function() {
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var target = $(this);
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// Close menu when you click a link.
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$("[data-toggle='wy-nav-shift']").removeClass("shift");
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$("[data-toggle='rst-versions']").toggleClass("shift");
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// Handle dynamic display of l3 and l4 nav lists
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window.SphinxRtdTheme.StickyNav.hashChange();
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$(document).on('click', "[data-toggle='rst-current-version']", function() {
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$("[data-toggle='rst-versions']").toggleClass("shift-up");
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// Make tables responsive
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$("table.docutils:not(.field-list)").wrap("<div class='wy-table-responsive'></div>");
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// Shift nav in mobile when clicking the menu.
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$('[data-toggle=\'wy-nav-shift\']').toggleClass('shift');
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$('[data-toggle=\'rst-versions\']').toggleClass('shift');
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// Nav menu link click operations
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$(document).on('click', '.wy-menu-vertical .current ul li a', function() {
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var target = $(this);
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// Close menu when you click a link.
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$('[data-toggle=\'wy-nav-shift\']').removeClass('shift');
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$('table.docutils:not(.field-list)').wrap('<div class=\'wy-table-responsive\'></div>');
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var link = $(this);
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expand = $('<span class="toctree-expand"></span>');
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expand.on('click', function (ev) {
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toggleCurrent(link);
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ev.stopPropagation();
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link.prepend(expand);
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// Add expand links to all parents of nested ul
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expand = $('<span class="toctree-expand"></span>');
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// Sphinx theme state
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win,
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win.on('hashchange', reset);
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win.on('hashchange', reset);
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win.on('scroll', function () {
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if (!linkScroll) {
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winScroll = true;
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}
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win = jquery(window);
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// Get anchor from URL and open up nested nav
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var anchor = encodeURI(window.location.hash);
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hashChange = function () {
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linkScroll = true;
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win.one('hashchange', function () {
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linkScroll = false;
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jquery(init);
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return {
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enable: enable,
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hashChange: hashChange
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}());
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return {
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StickyNav: stickyNav
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// Set scrolling
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win.on('scroll', function() {
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if (!linkScroll)
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winScroll = true;
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newNavPosition = navPosition + (newWinPosition - winPosition);
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}, init = function() {
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navBar = jquery('nav.wy-nav-side:first');
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win = jquery(window);
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}, reset = function() {
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// Get anchor from URL and open up nested nav
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{
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try
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console.log('Error expanding nav for anchor', err);
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}, hashChange = function() {
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linkScroll = true;
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win.one('hashchange', function() {
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return { StickyNav: stickyNav };
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‎_themes/sphinx_rtd_theme/theme.conf‎

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[options]
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typekit_id = hiw1hhg
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analytics_id =
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analytics_id =
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sticky_navigation = False
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logo_only =

‎_themes/sphinx_rtd_theme/version_dropdown.html‎

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<option value="" selected>MoveIt 1 - Melodic</option>
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</select>
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</div>
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</div><br>
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</div><br>

‎_themes/sphinx_rtd_theme/versions.html‎

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</div>
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</div>
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{% endif %}
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‎doc/chomp_planner/chomp_planner_tutorial.rst‎

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@@ -34,7 +34,7 @@ If you have the ``panda_moveit_config`` from the `ros-planning/panda_moveit_conf
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Running CHOMP with Obstacles in the Scene
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+++++++++++++++++++++++++++++++++++++++++
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To run CHOMP in an evironment with obstacles, you can run the sample python script:
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To run CHOMP in an environment with obstacles, you can run the sample python script:
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:codedir:`collision_scene_example.py<collision_environments/scripts/collision_scene_example.py>`.
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rosrun moveit_tutorials collision_scene_example.py sparse
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Next, in RViz, select CHOMP in the MotionPlanning pannel under the Context tab. Set the desired start and goal states by moving the end-effector around with the imarker and then click on the Plan button under the Planning tab in the MotionPlanning pannel to start planning. The planner will now attempt to find a feasible solution between the given start and end position.
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Next, in RViz, select CHOMP in the MotionPlanning panel under the Context tab. Set the desired start and goal states by moving the end-effector around with the imarker and then click on the Plan button under the Planning tab in the MotionPlanning panel to start planning. The planner will now attempt to find a feasible solution between the given start and end position.
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-----------------------------------------
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- *use_stochastic_descent*: set this to true/false if you want to use stochastic descent while optimizing the cost. In stochastic descent, a random point from the trajectory is used, rather than all the trajectory points. This is faster and guaranteed to converge, but it may take more iterations in the worst case.
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- *enable failure recovery*: if this is set to true, CHOMP tweaks ceratin parameters in the hope to find a solution when one does not exist with the default paramters specified in the ``chomp_planning.yaml`` file.
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- *enable failure recovery*: if this is set to true, CHOMP tweaks certain parameters in the hope to find a solution when one does not exist with the default parameters specified in the ``chomp_planning.yaml`` file.
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#. This launch file defines the new planning pipeline ``ompl-chomp``, deriving from the ``ompl`` pipeline,
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but adding the CHOMP post-processor as a planning adapter. Also, the ``trajectory_initialization_method`` is overridden to use the OMPL-generated trajectory.
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#. Now you can launch the newly configure planning pipeline as follows: ::
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‎doc/collision_environments/scripts/collision_scene_example.py‎

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load_scene.add_four_boxes();
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load_scene.add_one_box();
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load_scene.add_one_box()
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‎doc/interactivity/src/interactive_robot.cpp‎

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#include <moveit/robot_state/conversions.h>
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// default world object position is just in front and left of Panda robot.
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const Eigen::Isometry3d InteractiveRobot::DEFAULT_WORLD_OBJECT_POSE_(Eigen::Isometry3d(Eigen::Translation3d(0.25, -0.5,
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const Eigen::Isometry3d
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InteractiveRobot::DEFAULT_WORLD_OBJECT_POSE_(Eigen::Isometry3d(Eigen::Translation3d(0.25, -0.5, 0.5)));
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const double InteractiveRobot::WORLD_BOX_SIZE_ = 0.15;

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