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This commit is contained in:
Balakumar Sundaralingam
2023-10-26 04:17:19 -07:00
commit 07e6ccfc91
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60
src/curobo/content/configs/task/base_cfg.yml Normal file
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##
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
##
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
## property and proprietary rights in and to this material, related
## documentation and any modifications thereto. Any use, reproduction,
## disclosure or distribution of this material and related documentation
## without an express license agreement from NVIDIA CORPORATION or
## its affiliates is strictly prohibited.
##
world_collision_checker_cfg:
cache: null #{"cube": 41, "capsule": 0, "sphere": 0}
checker_type: "PRIMITIVE" # ["PRIMITIVE", "BLOX", "MESH"]
max_distance: 0.1
cost:
pose_cfg:
vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
weight: [0.0, 0.0]
vec_convergence: [0.0, 0.00] # orientation, position
terminal: False
bound_cfg:
weight: 000.0
activation_distance: [0.0,0.0,0.0,0.0]
constraint:
primitive_collision_cfg:
weight: 2000.0
use_sweep: False
classify: True
self_collision_cfg:
weight: 1000.0
classify: True
bound_cfg:
weight: [5000.0, 5000.0, 5000.0,5000.0]
activation_distance: [0.0,0.0,0.0,0.0] # for position, velocity, acceleration and jerk
convergence:
pose_cfg:
vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
weight: [1.0, 1.0]
vec_convergence: [0.0, 0.00] # orientation, position
terminal: False
cspace_cfg:
weight: 1.0
terminal: True
run_weight: 1.0
null_space_cfg:
weight: 1.0
terminal: True
run_weight: 1.0

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src/curobo/content/configs/task/finetune_trajopt.yml Normal file
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##
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
##
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
## property and proprietary rights in and to this material, related
## documentation and any modifications thereto. Any use, reproduction,
## disclosure or distribution of this material and related documentation
## without an express license agreement from NVIDIA CORPORATION or
## its affiliates is strictly prohibited.
##
model:
horizon: 32
state_filter_cfg:
filter_coeff:
position: 1.0
velocity: 1.0
acceleration: 1.0
enable: False
dt_traj_params:
base_dt: 0.2
base_ratio: 1.0
max_dt: 0.2
vel_scale: 1.0
control_space: 'POSITION'
state_finite_difference_mode: "CENTRAL"
teleport_mode: False
return_full_act_buffer: True
cost:
pose_cfg:
vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0] # orientation, position for all timesteps
run_vec_weight: [1.00,1.0,1.0,1.0,1.0,1.0] # running weight orientation, position
weight: [5000,30000.0,50,70] #[150.0, 2000.0, 30, 40]
vec_convergence: [0.0,0.0] # orientation, position, orientation metric activation, position metric activation
terminal: True
run_weight: 0.0
use_metric: True
cspace_cfg:
weight: 10000.0
terminal: True
run_weight: 0.00 #1
bound_cfg:
weight: [5000.0, 5000.0, 5000.0, 5000.0] # needs to be 3 values
smooth_weight: [0.0,1000.0, 500.0, 0.0] # [vel, acc, jerk,]
run_weight_velocity: 0.0
run_weight_acceleration: 1.0
run_weight_jerk: 1.0
activation_distance: [0.1,0.1,0.1,10.0] # for position, velocity, acceleration and jerk
null_space_weight: [1.0]
primitive_collision_cfg:
weight: 50000.0
use_sweep: True
sweep_steps: 6
classify: False
use_sweep_kernel: True
use_speed_metric: True
speed_dt: 0.01 # used only for speed metric
activation_distance: 0.025
self_collision_cfg:
weight: 5000.0
classify: False
lbfgs:
n_iters: 300 #125 #@200 #250 #250 # 150 #25
inner_iters: 25 #$25 # 25
cold_start_n_iters: 300 #125 #200 #250 #$150 #25
min_iters: 25
line_search_scale: [0.01,0.3,0.7,1.0] # #
fixed_iters: False
cost_convergence: 0.01
cost_delta_threshold: 10.0 #10.0 # 5.0 #2.0
cost_relative_threshold: 0.999 #0.999
epsilon: 0.01
history: 4 #15
use_cuda_graph: True
n_envs: 1
store_debug: False
use_cuda_kernel: True
stable_mode: True
line_search_type: "approx_wolfe"
use_cuda_line_search_kernel: True
use_cuda_update_best_kernel: True
use_temporal_smooth: False
sync_cuda_time: True
step_scale: 1.0
last_best: 5
use_coo_sparse: True
debug_info:
visual_traj : null #'ee_pos_seq'

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src/curobo/content/configs/task/gradient_ik.yml Normal file
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##
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
##
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
## property and proprietary rights in and to this material, related
## documentation and any modifications thereto. Any use, reproduction,
## disclosure or distribution of this material and related documentation
## without an express license agreement from NVIDIA CORPORATION or
## its affiliates is strictly prohibited.
##
model:
horizon: 1
state_filter_cfg:
filter_coeff:
position: 1.0
velocity: 1.0
acceleration: 0.0
enable: False
dt_traj_params:
base_dt: 0.02
base_ratio: 1.0
max_dt: 0.25
vel_scale: 1.0
control_space: 'POSITION'
teleport_mode: True
cost:
pose_cfg:
vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
#weight: [100, 500, 10, 20]
weight: [500, 5000, 30, 30]
vec_convergence: [0.00, 0.000]
terminal: False
use_metric: True
cspace_cfg:
weight: 0.000
bound_cfg:
weight: 50.0
activation_distance: [0.1]
null_space_weight: [1.0]
primitive_collision_cfg:
weight: 1000.0
use_sweep: False
classify: False
activation_distance: 0.025
self_collision_cfg:
weight: 1000.0
classify: False
lbfgs:
n_iters: 80 #60
inner_iters: 20
cold_start_n_iters: 80
min_iters: 20
line_search_scale: [0.01, 0.3, 0.7, 1.0] #[0.01,0.4, 0.9, 1.0] # #
fixed_iters: True
cost_convergence: 1e-7
cost_delta_threshold: 1e-6 #0.0001
cost_relative_threshold: 1.0
epsilon: 0.01 # used only in stable_mode
history: 4
horizon: 1
use_cuda_graph: True
n_envs: 1
store_debug: False
use_cuda_kernel: True
stable_mode: True
line_search_type: "approx_wolfe" #"wolfe"
use_cuda_line_search_kernel: True
use_cuda_update_best_kernel: True
sync_cuda_time: True
step_scale: 1.0
use_coo_sparse: True
last_best: 10
debug_info:
visual_traj : null #'ee_pos_seq'

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src/curobo/content/configs/task/gradient_mpc.yml Normal file
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##
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
##
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
## property and proprietary rights in and to this material, related
## documentation and any modifications thereto. Any use, reproduction,
## disclosure or distribution of this material and related documentation
## without an express license agreement from NVIDIA CORPORATION or
## its affiliates is strictly prohibited.
##
model:
horizon: 40
state_filter_cfg:
filter_coeff:
position: 0.0
velocity: 0.0
acceleration: 0.0
enable: True
dt_traj_params:
base_dt: 0.02
base_ratio: 0.5
max_dt: 0.02
vel_scale: 1.0
control_space: 'POSITION'
teleport_mode: False
state_finite_difference_mode: "CENTRAL"
cost:
pose_cfg:
vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0] # orientation, position for all timesteps
run_vec_weight: [1.00,1.00,1.00,1.0,1.0,1.0] # running weight orientation, position
weight: [500,2000.0,10,10] #[150.0, 2000.0, 30, 40]
vec_convergence: [0.0,0.0] #[0.001,0.0001] #[0.01, 0.001] # orientation, position
terminal: True
run_weight: 0.1
use_metric: True
cspace_cfg:
weight: 00.0
terminal: True
run_weight: 1.0
bound_cfg:
weight: [50.0, 0.0,0.0,0.0]
activation_distance: [0.1,0.1,0.1,0.1] # for position, velocity, acceleration and jerk
smooth_weight: [0.0, 100.0, 0.0,0.0] # [vel, acc, jerk, alpha_vel, eta_position, eta_vel, eta_acc]
run_weight_velocity: 0.0
run_weight_acceleration: 1.0
run_weight_jerk: 1.0
primitive_collision_cfg:
weight: 500.0
use_sweep: True
sweep_steps: 4
classify: False
use_sweep_kernel: True
use_speed_metric: False
speed_dt: 0.1 # used only for speed metric
activation_distance: 0.025
self_collision_cfg:
weight: 500.0
classify: False
null_space_cfg:
weight: 0.1
terminal: True
run_weight: 1.0
use_null_space: True
stop_cfg:
weight: 10.0 #50.0
max_nlimit: 0.5 #0.2
lbfgs:
n_iters: 150 #125 #@200 #250 #250 # 150 #25
inner_iters: 25
cold_start_n_iters: 500 #125 #200 #250 #$150 #25
min_iters: 50
line_search_scale: [0.01,0.25, 0.75,1.0] #[0.01,0.25,0.7, 1.0] # [0.01, 0.8, 1.0] #
fixed_iters: True
cost_convergence: 0.01
cost_delta_threshold: 0.0001
epsilon: 0.01
history: 6 #15
use_cuda_graph: True
n_envs: 1
store_debug: False
use_cuda_kernel: True
stable_mode: True
line_search_type: "approx_wolfe" #"strong_wolfe" #"strong_wolfe"
use_cuda_line_search_kernel: True
use_cuda_update_best_kernel: True
sync_cuda_time: True
use_temporal_smooth: False
last_best: 26
step_scale: 1.0
use_coo_sparse: True
debug_info:
visual_traj : null #'ee_pos_seq'

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src/curobo/content/configs/task/gradient_trajopt.yml Normal file
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##
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
##
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
## property and proprietary rights in and to this material, related
## documentation and any modifications thereto. Any use, reproduction,
## disclosure or distribution of this material and related documentation
## without an express license agreement from NVIDIA CORPORATION or
## its affiliates is strictly prohibited.
##
model:
horizon: 32
state_filter_cfg:
filter_coeff:
position: 1.0
velocity: 1.0
acceleration: 1.0
enable: False
dt_traj_params:
base_dt: 0.2
base_ratio: 1.0
max_dt: 0.2
vel_scale: 1.0
control_space: 'POSITION'
state_finite_difference_mode: "CENTRAL"
teleport_mode: False
return_full_act_buffer: True
cost:
pose_cfg:
vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0] # orientation, position for all timesteps
run_vec_weight: [1.00,1.00,1.00,1.0,1.0,1.0] # running weight orientation, position
weight: [2000,20000.0,30,30] #[150.0, 2000.0, 30, 40]
vec_convergence: [0.0,0.0] # orientation, position, orientation metric activation, position metric activation
terminal: True
run_weight: 0.0 #0.05
use_metric: True
cspace_cfg:
weight: 10000.0
terminal: True
run_weight: 0.00 #1
bound_cfg:
weight: [5000.0, 5000.0, 5000.0,5000.0] # needs to be 3 values
smooth_weight: [0.0,3000.0,10.0, 0.0] # [vel, acc, jerk,]
run_weight_velocity: 0.00
run_weight_acceleration: 1.0
run_weight_jerk: 1.0
activation_distance: [0.1,0.1,0.1,10.0] # for position, velocity, acceleration and jerk
null_space_weight: [1.0]
primitive_collision_cfg:
weight: 10000.0
use_sweep: True
sweep_steps: 4
classify: False
use_sweep_kernel: True
use_speed_metric: True
speed_dt: 0.01 # used only for speed metric
activation_distance: 0.025
self_collision_cfg:
weight: 5000.0
classify: False
lbfgs:
n_iters: 100 #125 #@200 #250 #250 # 150 #25
inner_iters: 25 #25 # 25
cold_start_n_iters: 100 #125 #200 #250 #$150 #25
min_iters: 25
line_search_scale: [0.01,0.3,0.7,1.0] #[0.01,0.2, 0.3,0.5,0.7,0.9, 1.0] #
fixed_iters: False
cost_convergence: 0.01
cost_delta_threshold: 1.0
cost_relative_threshold: 0.9999
epsilon: 0.01
history: 4 #15 #$14
use_cuda_graph: True
n_envs: 1
store_debug: False
use_cuda_kernel: True
stable_mode: True
line_search_type: "approx_wolfe"
use_cuda_line_search_kernel: True
use_cuda_update_best_kernel: True
use_temporal_smooth: False
sync_cuda_time: True
step_scale: 1.0 #1.0
last_best: 5
use_coo_sparse: True
debug_info:
visual_traj : null #'ee_pos_seq'

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src/curobo/content/configs/task/graph.yml Normal file
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##
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
##
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
## property and proprietary rights in and to this material, related
## documentation and any modifications thereto. Any use, reproduction,
## disclosure or distribution of this material and related documentation
## without an express license agreement from NVIDIA CORPORATION or
## its affiliates is strictly prohibited.
##
model:
horizon: 1
state_filter_cfg:
filter_coeff:
position: 1.0
velocity: 1.0
acceleration: 0.0
enable: True
dt_traj_params:
base_dt: 0.02
base_ratio: 1.0
max_dt: 0.02
vel_scale: 1.0
control_space: 'POSITION'
teleport_mode: True
state_finite_difference_mode: "CENTRAL"
graph:
max_nodes: 5000 # node list
steer_delta_buffer: 500 # for steering
sample_pts: 1500
node_similarity_distance: 0.1
rejection_ratio: 20 #$20
k_nn: 15
max_buffer: 10000
max_cg_buffer: 1000
vertex_n : 30
graph_max_attempts: 10
graph_min_attempts: 1
init_nodes: 30
c_max: 1.25
use_bias_node: True
compute_metrics: False
interpolation_steps: 1000
interpolation_type: "linear"
seed: 0
interpolation_deviation: 0.05
interpolation_acceleration_scale: 0.25

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src/curobo/content/configs/task/particle_ik.yml Normal file
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##
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
##
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
## property and proprietary rights in and to this material, related
## documentation and any modifications thereto. Any use, reproduction,
## disclosure or distribution of this material and related documentation
## without an express license agreement from NVIDIA CORPORATION or
## its affiliates is strictly prohibited.
##
model:
horizon: 1
state_filter_cfg:
filter_coeff:
position: 1.0
velocity: 1.0
acceleration: 0.0
enable: False
dt_traj_params:
base_dt: 0.02
base_ratio: 1.0
max_dt: 0.25
vel_scale: 1.0
control_space: 'POSITION'
teleport_mode: True
cost:
pose_cfg:
vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
weight: [30, 50, 10, 10] #[20.0, 100.0]
vec_convergence: [0.00, 0.000] # orientation, position
terminal: False
use_metric: True
cspace_cfg:
weight: 0.00
bound_cfg:
weight: 5000.0
activation_distance: [0.05]
primitive_collision_cfg:
weight: 500.0
use_sweep: False
classify: False
activation_distance: 0.035
self_collision_cfg:
weight: 500.0
classify: False
mppi:
init_cov : 1.0 #0.15 #.5 #.5
gamma : 1.0
n_iters : 4
cold_start_n_iters: 4
step_size_mean : 0.9
step_size_cov : 0.1
beta : 0.01
alpha : 1
num_particles : 25 #10000
update_cov : True
cov_type : "DIAG_A" #
kappa : 0.01
null_act_frac : 0.0
sample_mode : 'BEST'
base_action : 'REPEAT'
squash_fn : 'CLAMP'
n_envs : 1
use_cuda_graph : True
seed : 0
store_debug : False
random_mean : False
sample_per_env : True
sync_cuda_time : False
use_coo_sparse : True
sample_params:
fixed_samples: True
sample_ratio: {'halton':1.0, 'halton-knot':0.0, 'random':0.0, 'random-knot':0.0}
seed: 23
filter_coeffs: [0.0, 0.0, 1.0]
n_knots: 5
debug_info:
visual_traj : null #'state_seq'

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src/curobo/content/configs/task/particle_mpc.yml Normal file
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##
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
##
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
## property and proprietary rights in and to this material, related
## documentation and any modifications thereto. Any use, reproduction,
## disclosure or distribution of this material and related documentation
## without an express license agreement from NVIDIA CORPORATION or
## its affiliates is strictly prohibited.
##
model:
horizon: 30
state_filter_cfg:
filter_coeff:
position: 0.1
velocity: 0.1
acceleration: 0.0
enable: True
dt_traj_params:
base_dt: 0.01
base_ratio: 0.5
max_dt: 0.04
vel_scale: 1.0
control_space: 'ACCELERATION'
teleport_mode: False
state_finite_difference_mode: "CENTRAL"
cost:
pose_cfg:
vec_weight: [1.0,1.0, 1.0, 1.0, 1.0, 1.0]
run_vec_weight: [1.0,1.0, 1.0, 1.0, 1.0, 1.0]
weight: [60,300.0,20,20] #[150.0, 2000.0, 30, 40]
vec_convergence: [0.0, 0.00] # orientation, position
terminal: True
run_weight: 1.0
use_metric: True
cspace_cfg:
weight: 500.0
terminal: True
run_weight: 1.0
bound_cfg:
weight: [5000.0, 5000.0,5000.0,000.0]
activation_distance: [0.1,0.1,0.1,0.1] # for position, velocity, acceleration and jerk
smooth_weight: [0.0, 50.0, 0.0,0.0] # [vel, acc, jerk, alpha_vel, eta_position, eta_vel, eta_acc]
run_weight_velocity: 0.0
run_weight_acceleration: 1.0
run_weight_jerk: 1.0
null_space_weight: [10.0]
primitive_collision_cfg:
weight: 100000.0
use_sweep: True
sweep_steps: 4
classify: False
use_sweep_kernel: True
use_speed_metric: False
speed_dt: 0.1 # used only for speed metric
activation_distance: 0.025
self_collision_cfg:
weight: 50000.0
classify: False
stop_cfg:
weight: 100.0 #50.0
max_nlimit: 0.25 #0.2
mppi:
init_cov : 0.05 #.5 #.5
gamma : 0.98
n_iters : 5
cold_start_n_iters: 5
step_size_mean : 0.9
step_size_cov : 0.01
beta : 0.1
alpha : 1
num_particles : 400 #10000
update_cov : True
cov_type : "DIAG_A" #
kappa : 0.0001
null_act_frac : 0.05
sample_mode : 'BEST'
base_action : 'REPEAT'
squash_fn : 'CLAMP'
n_envs : 1
use_cuda_graph : True
seed : 0
store_debug : False
random_mean : True
sample_per_env : False
sync_cuda_time : True
use_coo_sparse : True
sample_params:
fixed_samples: True
sample_ratio: {'halton':0.3, 'halton-knot':0.7, 'random':0.0, 'random-knot':0.0}
seed: 0
filter_coeffs: [0.3, 0.3, 0.4]
n_knots: 5
debug_info:
visual_traj : 'ee_pos_seq'

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src/curobo/content/configs/task/particle_trajopt.yml Normal file
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##
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
##
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
## property and proprietary rights in and to this material, related
## documentation and any modifications thereto. Any use, reproduction,
## disclosure or distribution of this material and related documentation
## without an express license agreement from NVIDIA CORPORATION or
## its affiliates is strictly prohibited.
##
model:
horizon: 32
state_filter_cfg:
filter_coeff:
position: 1.0
velocity: 1.0
acceleration: 1.0
enable: False
dt_traj_params:
base_dt: 0.2
base_ratio: 1.0
max_dt: 0.2
vel_scale: 1.0
control_space: 'POSITION'
teleport_mode: False
return_full_act_buffer: True
state_finite_difference_mode: "CENTRAL"
cost:
pose_cfg:
vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
run_vec_weight: [1.0,1.0,1.0,1.0,1.0,1.0] # running weight
weight: [250.0, 5000.0, 40, 40]
vec_convergence: [0.0,0.0,1000.0,1000.0]
terminal: True
run_weight: 0.00
use_metric: True
cspace_cfg:
weight: 500.0
terminal: True
run_weight: 0.001
bound_cfg:
weight: [0.1, 0.1,0.0,0.0]
activation_distance: [0.0,0.0,0.0,0.0] #-#0.01
smooth_weight: [0.0,100.0,1.0,0.0]
run_weight_velocity: 0.0
run_weight_acceleration: 1.0
run_weight_jerk: 1.0
primitive_collision_cfg:
weight: 5000.0
use_sweep: True
classify: False
sweep_steps: 4
use_sweep_kernel: True
use_speed_metric: True
speed_dt: 0.01 # used only for speed metric
activation_distance: 0.025
self_collision_cfg:
weight: 500.0
classify: False
mppi:
init_cov : 0.1 #0.5
gamma : 1.0
n_iters : 2
cold_start_n_iters: 2
step_size_mean : 0.9
step_size_cov : 0.01
beta : 0.01
alpha : 1
num_particles : 25 # 100
update_cov : True
cov_type : "DIAG_A" #
kappa : 0.001
null_act_frac : 0.0
sample_mode : 'BEST'
base_action : 'REPEAT'
squash_fn : 'CLAMP'
n_envs : 1
use_cuda_graph : True
seed : 0
store_debug : False
random_mean : True
sample_per_env : True
sync_cuda_time : False
use_coo_sparse : True
sample_params:
fixed_samples: True
sample_ratio: {'halton':0.0, 'halton-knot':0.0, 'random':0.0, 'random-knot':0.0, "stomp": 1.0}
seed: 25
filter_coeffs: [0.3, 0.3, 0.4]
n_knots: 5
debug_info:
visual_traj : null #'ee_pos_seq'