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stomp_moveit.yaml
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stomp_moveit.yaml
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stomp_moveit:
num_iterations: {
type: int,
description: "Total number of iterations that STOMP is allowed to run",
default_value: 1000,
validation: {
gt_eq<>: [1]
}
}
num_iterations_after_valid: {
type: int,
description: "Total number of iterations that STOMP should continue optimizing an already valid solution",
default_value: 0,
validation: {
gt_eq<>: [0]
}
}
num_rollouts: {
type: int,
description: "Number of noisy trajectories that are being generated for each iteration",
default_value: 15,
validation: {
gt_eq<>: [1]
}
}
max_rollouts: {
type: int,
description: "Combined number of old and new rollouts that are being processed for each iteration",
default_value: 25,
validation: {
gt_eq<>: [1]
}
}
num_timesteps: {
type: int,
description: "Number of timesteps used in trajectories - corresponds to waypoint count",
default_value: 40,
validation: {
gt_eq<>: [3]
}
}
exponentiated_cost_sensitivity: {
type: double,
description: "Exponentiated cost sensitivity coefficient used for probability calculation",
default_value: 0.5,
validation: {
gt_eq<>: [0.0]
}
}
control_cost_weight: {
type: double,
description: "Weight of the acceleration costs to be applied for the general cost calculation. A value of 0 disables this cost.",
default_value: 0.1,
}
delta_t: {
type: double,
description: "Assumed time change between consecutive points - used for computing control costs",
default_value: 0.1,
}
path_marker_topic: {
type: string,
description: "Name of the topic RVIZ subscribes to to visualize the EE path. An empty string disables the publisher.",
default_value: "",
}