STOMP Yaml file

Basic STOMP planner configuration

A basic configuration file is as follows:
  • stomp_config_example.yaml
    stomp/manipulator:
      group_name: manipulator
      optimization:
        num_timesteps: 20
        num_iterations: 50
        num_iterations_after_valid: 0    
        num_rollouts: 10
        max_rollouts: 100
        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: [0.3, 1.0, 0.5, 0.4, 0.3, 0.3]
        cost_functions:
          - class: stomp_moveit/CollisionCheck
            collision_penalty: 1.0
            cost_weight: 1.0 
            kernel_window_percentage: 0.4
        noisy_filters:
          - class: stomp_moveit/JointLimits
            lock_start: True
            lock_goal: True
        update_filters:
          - class: stomp_moveit/ControlCostProjectionMatrix
    stomp/manipulator_rail:
      group_name: manipulator_rail
      optimization:
        num_timesteps: 40
        num_iterations: 40
        num_iterations_after_valid: 0    
        num_rollouts: 10
        max_rollouts: 10 
        initialization_method: 3 #[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, 0.4, 1.2, 0.4, 0.4, 0.1, 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 
        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/ControlCostProjectionMatrix
          - class: stomp_moveit/UpdateLogger
            package: stomp_moveit
            directory: log
            filename: smoothed_update.txt
    
    Each "stomp/group_name" section is specific to that planning group. The group name must be a valid planning group in the SRDF file

Explanation of parameters

Optimization Parameters

All the parameters under the optimization field affect the behavior of the optimization process. These parameters are as follows:

Tasks Parameters

At each iteration, STOMP invokes a StompTaks object. The taks object holds all of the active plugins and invokes them at specific stages of the optimization process. Thus each of the plugins is listed under a plugin specifier entry below the "task" field. Each plugin entry should at least have a "class" field which is used by pluginlib to identify and load the plugin. There are four types of plugins that can be loaded into the StompTask and these are:



stomp_moveit
Author(s): Jorge Nicho
autogenerated on Sat Jun 8 2019 19:24:01