This repository includes various resources needed for MoveIt benchmarking. Main purpose is to separate out large files like scene databases tracked with Git-LFS.
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 scenekitchen_panda_scene_sensed1with multiple planning queriespanda_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.yamlbookshelf_small_ROBOT/scene_sensed0001.yamlbookshelf_tall_ROBOT/scene0001.yamlbookshelf_tall_ROBOT/scene_sensed0001.yamlbookshelf_thin_ROBOT/scene0001.yamlbookshelf_thin_ROBOT/scene_sensed0001.yamlcage_ROBOT/scene0001.yamlcage_ROBOT/scene_sensed0001.yamlkitchen_ROBOT/scene0001.yamlkitchen_ROBOT/scene_sensed0001.yamltable_bars_ROBOT/scene0001.yamltable_bars_ROBOT/scene_sensed0001.yamltable_pick_ROBOT/scene0001.yamltable_pick_ROBOT/scene_sensed0001.yamltable_under_pick_ROBOT/scene0001.yamltable_under_pick_ROBOT/scene_sensed0001.yaml
Please install git lfs by running git lfs install if you plan to use the sqlite test databases.