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.