From fce587425270821270be6578e81d9699af9bf7ac Mon Sep 17 00:00:00 2001 From: Stephanie Eng Date: Mon, 28 Nov 2022 13:42:25 -0500 Subject: [PATCH 1/2] Update usage of constrained state space --- .../ompl_constrained_planning.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/how_to_guides/using_ompl_constrained_planning/ompl_constrained_planning.rst b/doc/how_to_guides/using_ompl_constrained_planning/ompl_constrained_planning.rst index 3ffe814437..0915e5e514 100644 --- a/doc/how_to_guides/using_ompl_constrained_planning/ompl_constrained_planning.rst +++ b/doc/how_to_guides/using_ompl_constrained_planning/ompl_constrained_planning.rst @@ -14,7 +14,7 @@ The interface currently only supports a single position or orientation constrain How to Configure OMPL to use Constrained Planning ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -OMPL reads configurations parameters from a file called :code:`ompl_planning.yaml`. This guide adds the required parameters directly in the launch file, but they can also be set in the yaml file. This guide uses the Panda robot, for which this file can be found :moveit_resources_codedir:`here `. Add a parameter to your robot's ``ompl_planning.yaml`` to tell OMPL to plan in a constrained state space by setting :code:`enforce_constrained_state_space` to ``true``. In addition, if the parameter `projection_evaluator <../../examples/ompl_interface/ompl_interface_tutorial.html#projection-evaluator>`_ was not yet specified, we also need to add it. The projection evaluator is used to help with discretizing the state space with high dimensionality by using projections from the state space to a low dimensional Euclidean space. You can read more about it `here `_. In general, using the first couple joints works pretty well. +OMPL reads configurations parameters from a file called :code:`ompl_planning.yaml`. This guide adds the required parameters directly in the launch file, but they can also be set in the yaml file. This guide uses the Panda robot, for which this file can be found :moveit_resources_codedir:`here `. OMPL's constrained planning will be used by default if you have exactly one position or one orientation constraint. To use the constrained state space in other scenariosn, add a parameter to your robot's ``ompl_planning.yaml`` to tell OMPL to plan in a constrained state space by setting :code:`enforce_constrained_state_space` to ``true``. In addition, if the parameter `projection_evaluator <../../examples/ompl_interface/ompl_interface_tutorial.html#projection-evaluator>`_ was not yet specified, we also need to add it. The projection evaluator is used to help with discretizing the state space with high dimensionality by using projections from the state space to a low dimensional Euclidean space. You can read more about it `here `_. In general, using the first couple joints works pretty well. .. code-block:: yaml From c960ad39795691b7c704e51aa81bedc7ea2fb324 Mon Sep 17 00:00:00 2001 From: Stephanie Eng Date: Mon, 13 Mar 2023 13:39:14 -0400 Subject: [PATCH 2/2] Typo fix --- .../ompl_constrained_planning.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/how_to_guides/using_ompl_constrained_planning/ompl_constrained_planning.rst b/doc/how_to_guides/using_ompl_constrained_planning/ompl_constrained_planning.rst index e1cf0453e5..13a18192c9 100644 --- a/doc/how_to_guides/using_ompl_constrained_planning/ompl_constrained_planning.rst +++ b/doc/how_to_guides/using_ompl_constrained_planning/ompl_constrained_planning.rst @@ -14,7 +14,7 @@ The interface currently only supports a single position or orientation constrain How to Configure OMPL to use Constrained Planning ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -OMPL reads configurations parameters from a file called :code:`ompl_planning.yaml`. This guide adds the required parameters directly in the launch file, but they can also be set in the yaml file. This guide uses the Panda robot, for which this file can be found :moveit_resources_codedir:`here `. OMPL's constrained planning will be used by default if you have exactly one position or one orientation constraint. To use the constrained state space in other scenariosn, add a parameter to your robot's ``ompl_planning.yaml`` to tell OMPL to plan in a constrained state space by setting :code:`enforce_constrained_state_space` to ``true``. In addition, if the parameter `projection_evaluator <../../examples/ompl_interface/ompl_interface_tutorial.html#projection-evaluator>`_ was not yet specified, we also need to add it. The projection evaluator is used to help with discretizing the state space with high dimensionality by using projections from the state space to a low dimensional Euclidean space. You can read more about it `here `_. In general, using the first couple joints works pretty well. +OMPL reads configurations parameters from a file called :code:`ompl_planning.yaml`. This guide adds the required parameters directly in the launch file, but they can also be set in the yaml file. This guide uses the Panda robot, for which this file can be found :moveit_resources_codedir:`here `. OMPL's constrained planning will be used by default if you have exactly one position or one orientation constraint. To use the constrained state space in other scenarios, add a parameter to your robot's ``ompl_planning.yaml`` to tell OMPL to plan in a constrained state space by setting :code:`enforce_constrained_state_space` to ``true``. In addition, if the parameter `projection_evaluator <../../examples/ompl_interface/ompl_interface_tutorial.html#projection-evaluator>`_ was not yet specified, we also need to add it. The projection evaluator is used to help with discretizing the state space with high dimensionality by using projections from the state space to a low dimensional Euclidean space. You can read more about it `here `_. In general, using the first couple joints works pretty well. .. code-block:: yaml