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https://github.com/elephantrobotics/mycobot_ros.git
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117 lines
No EOL
3.7 KiB
YAML
117 lines
No EOL
3.7 KiB
YAML
stomp/right_arm:
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group_name: right_arm
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optimization:
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num_timesteps: 60
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num_iterations: 40
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num_iterations_after_valid: 0
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num_rollouts: 30
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max_rollouts: 30
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initialization_method: 1 # [1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST]
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control_cost_weight: 0.0
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task:
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noise_generator:
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- class: stomp_moveit/NormalDistributionSampling
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stddev: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05]
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cost_functions:
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- class: stomp_moveit/CollisionCheck
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collision_penalty: 1.0
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cost_weight: 1.0
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kernel_window_percentage: 0.2
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longest_valid_joint_move: 0.05
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noisy_filters:
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- class: stomp_moveit/JointLimits
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lock_start: True
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lock_goal: True
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- class: stomp_moveit/MultiTrajectoryVisualization
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line_width: 0.02
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rgb: [255, 255, 0]
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marker_array_topic: stomp_trajectories
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marker_namespace: noisy
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update_filters:
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- class: stomp_moveit/PolynomialSmoother
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poly_order: 6
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- class: stomp_moveit/TrajectoryVisualization
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line_width: 0.05
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rgb: [0, 191, 255]
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error_rgb: [255, 0, 0]
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publish_intermediate: True
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marker_topic: stomp_trajectory
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marker_namespace: optimized
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stomp/left_arm:
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group_name: left_arm
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optimization:
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num_timesteps: 60
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num_iterations: 40
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num_iterations_after_valid: 0
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num_rollouts: 30
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max_rollouts: 30
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initialization_method: 1 # [1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST]
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control_cost_weight: 0.0
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task:
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noise_generator:
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- class: stomp_moveit/NormalDistributionSampling
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stddev: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05]
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cost_functions:
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- class: stomp_moveit/CollisionCheck
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collision_penalty: 1.0
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cost_weight: 1.0
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kernel_window_percentage: 0.2
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longest_valid_joint_move: 0.05
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noisy_filters:
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- class: stomp_moveit/JointLimits
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lock_start: True
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lock_goal: True
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- class: stomp_moveit/MultiTrajectoryVisualization
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line_width: 0.02
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rgb: [255, 255, 0]
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marker_array_topic: stomp_trajectories
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marker_namespace: noisy
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update_filters:
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- class: stomp_moveit/PolynomialSmoother
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poly_order: 6
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- class: stomp_moveit/TrajectoryVisualization
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line_width: 0.05
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rgb: [0, 191, 255]
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error_rgb: [255, 0, 0]
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publish_intermediate: True
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marker_topic: stomp_trajectory
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marker_namespace: optimized
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stomp/waist:
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group_name: waist
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optimization:
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num_timesteps: 60
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num_iterations: 40
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num_iterations_after_valid: 0
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num_rollouts: 30
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max_rollouts: 30
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initialization_method: 1 # [1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST]
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control_cost_weight: 0.0
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task:
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noise_generator:
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- class: stomp_moveit/NormalDistributionSampling
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stddev: [0.05]
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cost_functions:
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- class: stomp_moveit/CollisionCheck
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collision_penalty: 1.0
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cost_weight: 1.0
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kernel_window_percentage: 0.2
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longest_valid_joint_move: 0.05
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noisy_filters:
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- class: stomp_moveit/JointLimits
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lock_start: True
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lock_goal: True
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- class: stomp_moveit/MultiTrajectoryVisualization
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line_width: 0.02
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rgb: [255, 255, 0]
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marker_array_topic: stomp_trajectories
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marker_namespace: noisy
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update_filters:
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- class: stomp_moveit/PolynomialSmoother
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poly_order: 6
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- class: stomp_moveit/TrajectoryVisualization
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line_width: 0.05
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rgb: [0, 191, 255]
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error_rgb: [255, 0, 0]
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publish_intermediate: True
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marker_topic: stomp_trajectory
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marker_namespace: optimized |