Vibration of trajectory when using stomp

[Wang-Ruohan]

Hi,
I use the stomp planner to do motion planning. When there is no object/obstacle in the planning scene, it works well. However, when the obstacle adds to the planning scene, the planned path is quite strange. See this video: https://www.youtube.com/watch?v=bCqXP7BmIsA
Have you meet this problem? Is there any method to solve it?
Thanks a lot!

[Levi-Armstrong]

There may be some filters that can be applied. Another option is to try out the Tesseract Motion Planning Framework which generations nice smoother trajectories leveraging TrajOpt.

[Wang-Ruohan]

I have tried to add some filters, that helps a lot, the trajactory becomes smoother before, thank you!
As for TrajOpt, I would like to have a try later.