release repository

src/curobo/content/configs/task/base_cfg.yml

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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
+    
+