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fix terminal action, 10x more accurate pose reaching

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This commit is contained in:
Balakumar Sundaralingam
2024-11-22 14:32:43 -08:00
parent 36ea382dab
commit 2fbffc3522
15 changed files with 198 additions and 28 deletions
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src/curobo/content/configs/task/gradient_trajopt.yml
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@@ -53,7 +53,7 @@ cost:
run_weight: 0.0
bound_cfg:
weight: [50000.0, 50000.0, 500.0,500.0]
weight: [50000.0, 50000.0, 5000.0,5.0]
smooth_weight: [0.0,10000.0,5.0, 0.0]
run_weight_velocity: 0.00
run_weight_acceleration: 1.0