add additional planning parameters

rbs_mill_assist/moveit/chomp_planning.yaml

@@ -0,0 +1,37 @@
+planning_plugins:
+  - chomp_interface/CHOMPPlanner
+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
+planning_time_limit: 10.0
+max_iterations: 200
+max_iterations_after_collision_free: 5
+smoothness_cost_weight: 0.1
+obstacle_cost_weight: 1.0
+learning_rate: 0.01
+animate_path: true
+add_randomness: false
+smoothness_cost_velocity: 0.0
+smoothness_cost_acceleration: 1.0
+smoothness_cost_jerk: 0.0
+hmc_discretization: 0.01
+hmc_stochasticity: 0.01
+hmc_annealing_factor: 0.99
+use_hamiltonian_monte_carlo: false
+ridge_factor: 0.0
+use_pseudo_inverse: false
+pseudo_inverse_ridge_factor: 1e-4
+animate_endeffector: false
+# animate_endeffector_segment: "panda_rightfinger"
+joint_update_limit: 0.1
+collision_clearance: 0.2
+collision_threshold: 0.07
+random_jump_amount: 1.0
+use_stochastic_descent: true
+enable_failure_recovery: false
+max_recovery_attempts: 5
+trajectory_initialization_method: "quintic-spline"