improved joint space planning

2024-05-30 14:42:22 -07:00
parent 3bfed9d773
commit 0c51dd2da8
28 changed files with 1135 additions and 213 deletions
--- a/src/curobo/content/configs/task/gradient_trajopt.yml
+++ b/src/curobo/content/configs/task/gradient_trajopt.yml
@@ -48,7 +48,7 @@ cost:
    use_metric: True

  cspace_cfg:
-    weight: 10000.0
+    weight: 20000.0
    terminal: True
    run_weight: 0.0

@@ -100,7 +100,7 @@ lbfgs:
  use_cuda_update_best_kernel: True
  use_temporal_smooth: False
  sync_cuda_time: True
-  step_scale: 1.0 #1.0
+  step_scale: 1.0
  last_best: 10
  use_coo_sparse: True
  debug_info: