Go to the documentation of this file.00001 stomp/manipulator:
00002 group_name: manipulator
00003 optimization:
00004 num_timesteps: 20
00005 num_iterations: 50
00006 num_iterations_after_valid: 0
00007 num_rollouts: 10
00008 max_rollouts: 100
00009 initialization_method: 1 #[1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST
00010 control_cost_weight: 0.0
00011 task:
00012 noise_generator:
00013 - class: stomp_moveit/NormalDistributionSampling
00014 stddev: [0.3, 1.0, 0.5, 0.4, 0.3, 0.3]
00015 cost_functions:
00016 - class: stomp_moveit/CollisionCheck
00017 collision_penalty: 1.0
00018 cost_weight: 1.0
00019 kernel_window_percentage: 0.4
00020 noisy_filters:
00021 - class: stomp_moveit/JointLimits
00022 lock_start: True
00023 lock_goal: True
00024 update_filters:
00025 - class: stomp_moveit/ControlCostProjectionMatrix
00026 stomp/manipulator_rail:
00027 group_name: manipulator_rail
00028 optimization:
00029 num_timesteps: 40
00030 num_iterations: 40
00031 num_iterations_after_valid: 0
00032 num_rollouts: 10
00033 max_rollouts: 10
00034 initialization_method: 3 #[1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST
00035 control_cost_weight: 0.0
00036 task:
00037 noise_generator:
00038 - class: stomp_moveit/NormalDistributionSampling
00039 stddev: [0.05, 0.4, 1.2, 0.4, 0.4, 0.1, 0.1]
00040 cost_functions:
00041 - class: stomp_moveit/CollisionCheck
00042 collision_penalty: 1.0
00043 cost_weight: 1.0
00044 kernel_window_percentage: 0.2
00045 longest_valid_joint_move: 0.05
00046 noisy_filters:
00047 - class: stomp_moveit/JointLimits
00048 lock_start: True
00049 lock_goal: True
00050 - class: stomp_moveit/MultiTrajectoryVisualization
00051 line_width: 0.02
00052 rgb: [255, 255, 0]
00053 marker_array_topic: stomp_trajectories
00054 marker_namespace: noisy
00055 update_filters:
00056 - class: stomp_moveit/ControlCostProjectionMatrix
00057 - class: stomp_moveit/UpdateLogger
00058 package: stomp_moveit
00059 directory: log
00060 filename: smoothed_update.txt