Created
November 7, 2018 14:12
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stomp config
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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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