https://github.com/moveit/moveit_benchmark_resources

Configurations and databases for setting up benchmarks with MoveIt
https://github.com/moveit/moveit_benchmark_resources

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Configurations and databases for setting up benchmarks with MoveIt

• Host: GitHub
• URL: https://github.com/moveit/moveit_benchmark_resources
• Owner: moveit
• Created: 2023-05-18T20:19:57.000Z (over 1 year ago)
• Default Branch: main
• Last Pushed: 2024-08-19T08:28:16.000Z (5 months ago)
• Last Synced: 2024-08-19T10:01:47.037Z (5 months ago)
• Language: Python
• Size: 7.81 KB
• Stars: 1
• Watchers: 19
• Forks: 2
• Open Issues: 1
• Metadata Files:
  • Readme: README.md

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README

        
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](https://github.com/mamoll/yaml_to_warehouse) based on Roboflex YAML files provided by the

author of [MotionBenchMaker](https://github.com/KavrakiLab/motion_bench_maker?tab=readme-ov-file#simple-usage) (see [full_dataset](https://rice.box.com/s/7uwuzor40vys1xx0xec4e8mxa8fkdtnn)).

- `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](https://git-lfs.com/) by running `git lfs install` if you plan to use the sqlite test databases.