diff --git a/config/stomp_planning.yaml b/config/stomp_planning.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d6d34365efff05644420676a2f9c79f9cdaf1677 --- /dev/null +++ b/config/stomp_planning.yaml @@ -0,0 +1,40 @@ + +stomp/panda_arm: + group_name: panda_arm + 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, 0.8, 1.0, 0.8, 0.4, 0.4, 0.4] + 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 \ No newline at end of file diff --git a/launch/demo_stomp.launch b/launch/demo_stomp.launch new file mode 100644 index 0000000000000000000000000000000000000000..0ae05517da11fc70561bed8e6c1a8a29ad0a3dee --- /dev/null +++ b/launch/demo_stomp.launch @@ -0,0 +1,5 @@ +<launch> + <include file="$(dirname)/demo.launch"> + <arg name="pipeline" value="stomp"/> + </include> +</launch> diff --git a/launch/stomp_planning_pipeline.launch.xml b/launch/stomp_planning_pipeline.launch.xml new file mode 100644 index 0000000000000000000000000000000000000000..06b42dc0efeefc4dc180b99dfa825d5de0c6afac --- /dev/null +++ b/launch/stomp_planning_pipeline.launch.xml @@ -0,0 +1,25 @@ +<launch> + <!-- Stomp Plugin for MoveIt! --> + <arg name="planning_plugin" value="stomp_moveit/StompPlannerManager" /> + + <arg name="start_state_max_bounds_error" value="0.1" /> + <arg name="jiggle_fraction" value="0.05" /> + <!-- The request adapters (plugins) used when planning. + ORDER MATTERS --> + <arg name="planning_adapters" default="default_planner_request_adapters/AddTimeParameterization + default_planner_request_adapters/FixWorkspaceBounds + default_planner_request_adapters/FixStartStateBounds + default_planner_request_adapters/FixStartStateCollision + default_planner_request_adapters/FixStartStatePathConstraints" /> + + + <param name="planning_plugin" value="$(arg planning_plugin)" /> + <param name="request_adapters" value="$(arg planning_adapters)" /> + <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" /> + <param name="jiggle_fraction" value="$(arg jiggle_fraction)" /> + + <!-- Add MoveGroup capabilities specific to this pipeline --> + <!-- <param name="capabilities" value="" /> --> + + <rosparam command="load" file="$(find panda_moveit_config)/config/stomp_planning.yaml"/> +</launch>