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- stomp/manipulator:
- group_name: manipulator
- optimization:
- num_timesteps: 60
- num_iterations: 40
- num_iterations_after_valid: 0
- num_rollouts: 30
- max_rollouts: 30
- initialization_method: 1 # [1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST]
- control_cost_weight: 0.0
- task:
- noise_generator:
- - class: stomp_moveit/NormalDistributionSampling
- stddev: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05]
- 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
- noisy_filters:
- - class: stomp_moveit/JointLimits
- lock_start: True
- lock_goal: True
- - class: stomp_moveit/MultiTrajectoryVisualization
- line_width: 0.02
- rgb: [255, 255, 0]
- marker_array_topic: stomp_trajectories
- marker_namespace: noisy
- update_filters:
- - class: stomp_moveit/PolynomialSmoother
- poly_order: 6
- - class: stomp_moveit/TrajectoryVisualization
- line_width: 0.05
- rgb: [0, 191, 255]
- error_rgb: [255, 0, 0]
- publish_intermediate: True
- marker_topic: stomp_trajectory
- marker_namespace: optimized
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