release repository

src/curobo/content/configs/task/particle_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'
+  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'
+
+