release repository

src/curobo/content/configs/task/finetune_trajopt.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.
+##
+
+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'