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@simonschmeisser
Created November 7, 2018 14:12
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stomp config
stomp/manipulator:
group_name: manipulator
optimization:
num_timesteps: 100
num_iterations: 100
num_iterations_after_valid: 5
num_rollouts: 20
max_rollouts: 100
initialization_method: 1 #[1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST
control_cost_weight: 1.0
task:
noise_generator:
- class: stomp_moveit/GoalGuidedMultivariateGaussian
stddev: [0.05, 0.4, 0.4, 0.4, 0.4, 0.1]
cost_functions:
- class: stomp_moveit/CollisionCheck
collision_penalty: 1.0
cost_weight: 1.0
kernel_window_percentage: 0.2
longest_valid_joint_move: 0.05
# - class: stomp_moveit/ObstacleDistanceGradient
# max_distance: 0.2
# cost_weight: 1.0
# longest_valid_joint_move: 0.05
- class: stomp_moveit/ToolGoalPose
position_cost_weight: 25.0
orientation_cost_weight: 25.0
noisy_filters:
- class: stomp_moveit/JointLimits
lock_start: True
lock_goal: True
- class: stomp_moveit/MultiTrajectoryVisualization
line_width: 0.02
rgb: [0, 255, 0]
marker_array_topic: stomp_trajectories
marker_namespace: noisy
update_filters:
- class: stomp_moveit/PolynomialSmoother
poly_order: 5
- class: stomp_moveit/TrajectoryVisualization
line_width: 0.01
rgb: [191, 0, 255]
error_rgb: [255, 0, 0]
publish_intermediate: True
marker_topic: stomp_trajectory
marker_namespace: optimized
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