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update to 0.6.2

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This commit is contained in:
Balakumar Sundaralingam
2023-12-15 02:01:33 -08:00
parent d85ae41fba
commit 58958bbcce
105 changed files with 2514 additions and 934 deletions
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5
src/curobo/content/assets/robot/franka_description/franka_panda.urdf
View File

@@ -243,10 +243,11 @@
<parent link="panda_hand"/>
<child link="panda_rightfinger"/>
<origin rpy="0 0 0" xyz="0 0 0.0584"/>
<axis xyz="0 1 0"/>
<axis xyz="0 -1 0"/>
<dynamics damping="10.0"/>
<limit effort="20" lower="-0.04" upper="0.0" velocity="0.2"/>
<limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
</joint>
<link name="ee_link"/>
<joint name="ee_fixed_joint" type="fixed">

5
src/curobo/content/assets/robot/franka_description/franka_panda_mobile_xy_tz.urdf
View File

@@ -321,9 +321,10 @@
<parent link="panda_hand"/>
<child link="panda_rightfinger"/>
<origin rpy="0 0 0" xyz="0 0 0.0584"/>
<axis xyz="0 1 0"/>
<axis xyz="0 -1 0"/>
<dynamics damping="10.0"/>
<limit effort="20" lower="-0.04" upper="0.0" velocity="0.2"/>
<limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
<mimic joint="panda_finger_joint1"/>
</joint>
</robot>

7
src/curobo/content/assets/robot/ur_description/ur10e.urdf
View File

@@ -356,4 +356,11 @@
<parent link="flange"/>
<child link="tool0"/>
</joint>
<joint name="camera_mount_joint" type="fixed">
<origin rpy="0 0 -3.14" xyz="0 0 0"/>
<parent link="flange"/>
<child link="camera_mount"/>
</joint>
<link name="camera_mount"/>
</robot>

2
src/curobo/content/configs/robot/dual_ur10e.yml
View File

@@ -47,6 +47,8 @@ robot_cfg:
}
lock_joints: null
mesh_link_names: ['shoulder_link','upper_arm_link', 'forearm_link', 'wrist_1_link', 'wrist_2_link' ,'wrist_3_link' ,
'shoulder_link_1','upper_arm_link_1', 'forearm_link_1', 'wrist_1_link_1', 'wrist_2_link_1' ,'wrist_3_link_1']
cspace:
joint_names: [

7
src/curobo/content/configs/robot/franka.yml
View File

@@ -28,6 +28,7 @@ robot_cfg:
"panda_finger_joint1": "Y",
"panda_finger_joint2": "Y",
}
usd_flip_joint_limits: ["panda_finger_joint2"]
urdf_path: "robot/franka_description/franka_panda.urdf"
asset_root_path: "robot/franka_description"
@@ -84,7 +85,7 @@ robot_cfg:
"panda_rightfinger": 0.01,
"attached_object": 0.0,
}
#link_names: ["panda_link4"]
mesh_link_names:
[
"panda_link0",
@@ -99,14 +100,14 @@ robot_cfg:
"panda_leftfinger",
"panda_rightfinger",
]
lock_joints: {"panda_finger_joint1": 0.04, "panda_finger_joint2": -0.04}
lock_joints: {"panda_finger_joint1": 0.04, "panda_finger_joint2": 0.04}
extra_links: {"attached_object":{"parent_link_name": "panda_hand" ,
"link_name": "attached_object", "fixed_transform": [0,0,0,1,0,0,0], "joint_type":"FIXED",
"joint_name": "attach_joint" }}
cspace:
joint_names: ["panda_joint1","panda_joint2","panda_joint3","panda_joint4", "panda_joint5",
"panda_joint6","panda_joint7","panda_finger_joint1", "panda_finger_joint2"]
retract_config: [0.0, -1.3, 0.0, -2.5, 0.0, 1.0, 0., 0.04, -0.04]
retract_config: [0.0, -1.3, 0.0, -2.5, 0.0, 1.0, 0., 0.04, 0.04]
null_space_weight: [1,1,1,1,1,1,1,1,1]
cspace_distance_weight: [1,1,1,1,1,1,1,1,1]
max_acceleration: 15.0

4
src/curobo/content/configs/robot/franka_mobile.yml
View File

@@ -100,7 +100,7 @@ robot_cfg:
"panda_leftfinger",
"panda_rightfinger",
]
lock_joints: {"panda_finger_joint1": 0.04, "panda_finger_joint2": -0.04}
lock_joints: {"panda_finger_joint1": 0.04, "panda_finger_joint2": 0.04}
extra_links: {"attached_object":{"parent_link_name": "panda_hand" ,
"link_name": "attached_object", "fixed_transform": [0,0,0,1,0,0,0], "joint_type":"FIXED",
"joint_name": "attach_joint" }}
@@ -109,7 +109,7 @@ robot_cfg:
"base_x", "base_y", "base_z",
"panda_joint1","panda_joint2","panda_joint3","panda_joint4", "panda_joint5",
"panda_joint6","panda_joint7","panda_finger_joint1", "panda_finger_joint2"]
retract_config: [0,0,0,0.0, -1.3, 0.0, -2.5, 0.0, 1.0, 0., 0.04, -0.04]
retract_config: [0,0,0,0.0, -1.3, 0.0, -2.5, 0.0, 1.0, 0., 0.04, 0.04]
null_space_weight: [1,1,1,1,1,1,1,1,1,1,1,1]
cspace_distance_weight: [1,1,1,1,1,1,1,1,1,1,1,1]
max_acceleration: 15.0 #15.0

2
src/curobo/content/configs/robot/iiwa_allegro.yml
View File

@@ -32,7 +32,7 @@ robot_cfg:
- thumb_link_3
collision_sphere_buffer: 0.005
collision_spheres: spheres/iiwa_allegro.yml
ee_link: index_link_3
ee_link: palm_link
link_names:
- palm_link
- index_link_3

4
src/curobo/content/configs/robot/quad_ur10e.yml
View File

@@ -62,6 +62,10 @@ robot_cfg:
'shoulder_link_3': 0.05,
}
lock_joints: null
mesh_link_names: ['shoulder_link','upper_arm_link', 'forearm_link', 'wrist_1_link', 'wrist_2_link' ,'wrist_3_link',
'shoulder_link_1','upper_arm_link_1', 'forearm_link_1', 'wrist_1_link_1', 'wrist_2_link_1' ,'wrist_3_link_1',
'shoulder_link_2','upper_arm_link_2', 'forearm_link_2', 'wrist_1_link_2', 'wrist_2_link_2' ,'wrist_3_link_2',
'shoulder_link_3','upper_arm_link_3', 'forearm_link_3', 'wrist_1_link_3', 'wrist_2_link_3' ,'wrist_3_link_3']
cspace:
joint_names: [

17
src/curobo/content/configs/robot/spheres/ur10e.yml
View File

@@ -11,18 +11,20 @@
robot: 'UR10'
collision_spheres:
shoulder_link:
- center: [0, 0, 0.0]
radius: 0.02
- center: [0, 0, 0]
radius: 0.05
#- center: [0, 0, -0.18]
# radius: 0.09
upper_arm_link:
- center: [-0, -0, 0.18]
radius: 0.09
- center: [-0.102167, 0, 0.18]
radius: 0.05
- center: [-0.204333, -8.88178e-19, 0.18]
- center: [-0.204333, 0, 0.18]
radius: 0.05
- center: [-0.3065, -1.33227e-18, 0.18]
- center: [-0.3065, 0, 0.18]
radius: 0.05
- center: [-0.408667, -1.77636e-18, 0.18]
- center: [-0.408667, 0, 0.18]
radius: 0.05
- center: [-0.510833, 0, 0.18]
radius: 0.05
@@ -53,10 +55,9 @@ collision_spheres:
- center: [0, 0, 0]
radius: 0.05
- center: [0, 0, 0.06]
radius: 0.08
radius: 0.07
tool0:
- center: [0, 0, 0.03]
- center: [0, 0, 0.12]
radius: 0.05
camera_mount:
- center: [0, 0.11, -0.01]

5
src/curobo/content/configs/robot/template.yml
View File

@@ -31,11 +31,12 @@ robot_cfg:
collision_spheres: null #
collision_sphere_buffer: 0.005
extra_collision_spheres: {}
self_collision_ignore: null # Dict[str, List[str]]
self_collision_buffer: null # Dict[str, float]
self_collision_ignore: {} # Dict[str, List[str]]
self_collision_buffer: {} # Dict[str, float]
use_global_cumul: True
mesh_link_names: null # List[str]
external_asset_path: null # Use this to add path for externally located assets/robot folder.
cspace:
joint_names: [] # List[str]

3
src/curobo/content/configs/robot/tri_ur10e.yml
View File

@@ -56,6 +56,9 @@ robot_cfg:
'shoulder_link_2': 0.05,
}
lock_joints: null
mesh_link_names: ['shoulder_link','upper_arm_link', 'forearm_link', 'wrist_1_link', 'wrist_2_link' ,'wrist_3_link',
'shoulder_link_1','upper_arm_link_1', 'forearm_link_1', 'wrist_1_link_1', 'wrist_2_link_1' ,'wrist_3_link_1',
'shoulder_link_2','upper_arm_link_2', 'forearm_link_2', 'wrist_1_link_2', 'wrist_2_link_2' ,'wrist_3_link_2']
cspace:
joint_names: [

7
src/curobo/content/configs/robot/ur10e.yml
View File

@@ -22,7 +22,7 @@ robot_cfg:
link_names: null
collision_link_names: ['shoulder_link','upper_arm_link', 'forearm_link', 'wrist_1_link', 'wrist_2_link' ,'wrist_3_link', 'tool0']
collision_spheres: 'spheres/ur10e.yml'
collision_sphere_buffer: 0.02
collision_sphere_buffer: 0.01
self_collision_ignore: {
"upper_arm_link": ["forearm_link", "shoulder_link"],
"forarm_link": ["wrist_1_link"],
@@ -49,4 +49,7 @@ robot_cfg:
null_space_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
cspace_distance_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0] #[2.5, 1.75, 1.5, 1.25, 0.7, 0.4]
max_jerk: 500.0
max_acceleration: 15.0
max_acceleration: 12.0
position_limit_clip: 0.1
# add velocity scaling
# add joint position limit clipping

18
src/curobo/content/configs/robot/ur5e.yml
View File

@@ -27,7 +27,8 @@ robot_cfg:
extra_links: null
collision_link_names: ['shoulder_link','upper_arm_link', 'forearm_link', 'wrist_1_link', 'wrist_2_link' ,'wrist_3_link'] # List[str]
collision_link_names: ['shoulder_link','upper_arm_link', 'forearm_link', 'wrist_1_link',
'wrist_2_link' ,'wrist_3_link', 'tool0'] # List[str]
collision_spheres:
shoulder_link:
- "center": [0.0, 0.0, 0.0]
@@ -89,14 +90,19 @@ robot_cfg:
wrist_3_link:
- "center": [0.001, 0.001, -0.029]
"radius": 0.043
tool0:
- "center": [0.001, 0.001, 0.05]
"radius": 0.05
collision_sphere_buffer: 0.005
extra_collision_spheres: {}
self_collision_ignore: {
"upper_arm_link": ["forearm_link", "shoulder_link"],
"forearm_link": ["wrist_1_link", "wrist_2_link", "wrist_3_link"],
"wrist_1_link": ["wrist_2_link","wrist_3_link"],
"wrist_2_link": ["wrist_3_link"],
"wrist_1_link": ["wrist_2_link","wrist_3_link","tool0"],
"wrist_2_link": ["wrist_3_link", "tool0"],
"wrist_3_link": ["tool0"],
}
self_collision_buffer: {'upper_arm_link': 0,
'forearm_link': 0,
@@ -106,7 +112,8 @@ robot_cfg:
}
use_global_cumul: True
mesh_link_names: null # List[str]
mesh_link_names: ['shoulder_link','upper_arm_link', 'forearm_link', 'wrist_1_link',
'wrist_2_link' ,'wrist_3_link'] # List[str]
cspace:
joint_names: ['shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint']
@@ -114,4 +121,5 @@ robot_cfg:
null_space_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
cspace_distance_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
max_jerk: 500.0
max_acceleration: 15.0
max_acceleration: 12.0
position_limit_clip: 0.1

12
src/curobo/content/configs/task/base_cfg.yml
View File

@@ -22,6 +22,11 @@ cost:
weight: [0.0, 0.0]
vec_convergence: [0.0, 0.00] # orientation, position
terminal: False
link_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:
@@ -43,9 +48,14 @@ constraint:
convergence:
pose_cfg:
vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
weight: [0.1,10.0] #[0.1, 100.0]
vec_convergence: [0.0, 0.0] # orientation, position
terminal: False
link_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
vec_convergence: [0.0, 0.0] # orientation, position
terminal: False
cspace_cfg:

37
src/curobo/content/configs/task/finetune_trajopt.yml
View File

@@ -31,8 +31,17 @@ model:
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]
run_vec_weight: [1.00,1.00,1.00,1.0,1.0,1.0] # running weight orientation, position
weight: [2000,500000.0,30,50] #[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 #0.05
use_metric: True
link_pose_cfg:
vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0] # orientation, position for all timesteps
run_vec_weight: [1.00,1.00,1.00,1.0,1.0,1.0] # running weight orientation, position
weight: [2000,500000.0,30,50] #[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
@@ -44,16 +53,16 @@ cost:
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,]
weight: [5000.0, 50000.0, 50000.0, 50000.0] # needs to be 3 values
smooth_weight: [0.0,2000.0, 50.0, 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]
null_space_weight: [0.0]
primitive_collision_cfg:
weight: 50000.0
weight: 1000000.0
use_sweep: True
sweep_steps: 6
classify: False
@@ -69,17 +78,17 @@ cost:
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
n_iters: 400
inner_iters: 25
cold_start_n_iters: 200
min_iters: 25
line_search_scale: [0.01,0.3,0.7,1.0] # #
fixed_iters: False
line_search_scale: [0.01, 0.3,0.7,1.0] # #
fixed_iters: True
cost_convergence: 0.01
cost_delta_threshold: 10.0 #10.0 # 5.0 #2.0
cost_delta_threshold: 1.0
cost_relative_threshold: 0.999 #0.999
epsilon: 0.01
history: 4 #15
history: 15 #15
use_cuda_graph: True
n_envs: 1
store_debug: False
@@ -91,7 +100,7 @@ lbfgs:
use_temporal_smooth: False
sync_cuda_time: True
step_scale: 1.0
last_best: 5
last_best: 10
use_coo_sparse: True
debug_info:
visual_traj : null #'ee_pos_seq'

29
src/curobo/content/configs/task/gradient_ik.yml
View File

@@ -28,8 +28,13 @@ model:
cost:
pose_cfg:
vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
#weight: [100, 500, 10, 20]
weight: [500, 5000, 30, 30]
weight: [1000, 20000, 30, 50]
vec_convergence: [0.0, 0.00]
terminal: False
use_metric: True
link_pose_cfg:
vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
weight: [1000, 20000, 30, 50]
vec_convergence: [0.00, 0.000]
terminal: False
use_metric: True
@@ -37,31 +42,31 @@ cost:
cspace_cfg:
weight: 0.000
bound_cfg:
weight: 50.0
weight: 100.0
activation_distance: [0.1]
null_space_weight: [1.0]
primitive_collision_cfg:
weight: 1000.0
weight: 50000.0
use_sweep: False
classify: False
activation_distance: 0.025
activation_distance: 0.01
self_collision_cfg:
weight: 1000.0
weight: 500.0
classify: False
lbfgs:
n_iters: 80 #60
inner_iters: 20
cold_start_n_iters: 80
n_iters: 100 #60
inner_iters: 25
cold_start_n_iters: 100
min_iters: 20
line_search_scale: [0.01, 0.3, 0.7, 1.0] #[0.01,0.4, 0.9, 1.0] # #
line_search_scale: [0.01, 0.3, 0.7, 1.0]
fixed_iters: True
cost_convergence: 1e-7
cost_delta_threshold: 1e-6 #0.0001
cost_relative_threshold: 1.0
epsilon: 0.01 # used only in stable_mode
history: 4
epsilon: 0.01 #0.01 # used only in stable_mode
history: 6
horizon: 1
use_cuda_graph: True
n_envs: 1

14
src/curobo/content/configs/task/gradient_mpc.yml
View File

@@ -10,7 +10,7 @@
##
model:
horizon: 40
horizon: 30
state_filter_cfg:
filter_coeff:
position: 0.0
@@ -18,9 +18,9 @@ model:
acceleration: 0.0
enable: True
dt_traj_params:
base_dt: 0.02
base_dt: 0.05
base_ratio: 0.5
max_dt: 0.02
max_dt: 0.05
vel_scale: 1.0
control_space: 'POSITION'
teleport_mode: False
@@ -72,16 +72,16 @@ cost:
max_nlimit: 0.5 #0.2
lbfgs:
n_iters: 150 #125 #@200 #250 #250 # 150 #25
n_iters: 500 #125 #@200 #250 #250 # 150 #25
inner_iters: 25
cold_start_n_iters: 500 #125 #200 #250 #$150 #25
min_iters: 50
line_search_scale: [0.01,0.25, 0.75,1.0] #[0.01,0.25,0.7, 1.0] # [0.01, 0.8, 1.0] #
line_search_scale: [0.01,0.3, 0.7,1.0] #[0.01,0.25,0.7, 1.0] # [0.01, 0.8, 1.0] #
fixed_iters: True
cost_convergence: 0.01
cost_delta_threshold: 0.0001
epsilon: 0.01
history: 6 #15
history: 15 #15
use_cuda_graph: True
n_envs: 1
store_debug: False
@@ -92,7 +92,7 @@ lbfgs:
use_cuda_update_best_kernel: True
sync_cuda_time: True
use_temporal_smooth: False
last_best: 26
last_best: 10
step_scale: 1.0
use_coo_sparse: True
debug_info:

37
src/curobo/content/configs/task/gradient_trajopt.yml
View File

@@ -32,10 +32,19 @@ 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: [1.00,1.00,1.00,1.0,1.0,1.0] # running weight orientation, position
weight: [2000,20000.0,30,30] #[150.0, 2000.0, 30, 40]
weight: [2000,50000.0,30,60] #[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 #0.05
run_weight: 0.00
use_metric: True
link_pose_cfg:
vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0] # orientation, position for all timesteps
run_vec_weight: [1.00,1.00,1.00,1.0,1.0,1.0] # running weight orientation, position
weight: [2000,50000.0,30,50] #[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:
@@ -44,18 +53,18 @@ cost:
run_weight: 0.00 #1
bound_cfg:
weight: [5000.0, 5000.0, 5000.0,5000.0] # needs to be 3 values
smooth_weight: [0.0,3000.0,10.0, 0.0] # [vel, acc, jerk,]
weight: [5000.0, 50000.0, 50000.0,50000.0] # needs to be 3 values
smooth_weight: [0.0,10000.0,10.0, 0.0] # [vel, acc, jerk, alpha_v-not-used]
run_weight_velocity: 0.00
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]
null_space_weight: [0.0]
primitive_collision_cfg:
weight: 10000.0
weight: 100000.0
use_sweep: True
sweep_steps: 4
sweep_steps: 6
classify: False
use_sweep_kernel: True
use_speed_metric: True
@@ -70,17 +79,17 @@ cost:
lbfgs:
n_iters: 100 #125 #@200 #250 #250 # 150 #25
inner_iters: 25 #25 # 25
cold_start_n_iters: 100 #125 #200 #250 #$150 #25
n_iters: 175 #175
inner_iters: 25
cold_start_n_iters: 150
min_iters: 25
line_search_scale: [0.01,0.3,0.7,1.0] #[0.01,0.2, 0.3,0.5,0.7,0.9, 1.0] #
fixed_iters: False
fixed_iters: True
cost_convergence: 0.01
cost_delta_threshold: 1.0
cost_delta_threshold: 2000.0
cost_relative_threshold: 0.9999
epsilon: 0.01
history: 4 #15 #$14
history: 15
use_cuda_graph: True
n_envs: 1
store_debug: False
@@ -92,7 +101,7 @@ lbfgs:
use_temporal_smooth: False
sync_cuda_time: True
step_scale: 1.0 #1.0
last_best: 5
last_best: 10
use_coo_sparse: True
debug_info:
visual_traj : null #'ee_pos_seq'

2
src/curobo/content/configs/task/graph.yml
View File

@@ -33,7 +33,7 @@ graph:
sample_pts: 1500
node_similarity_distance: 0.1
rejection_ratio: 20 #$20
rejection_ratio: 20
k_nn: 15
max_buffer: 10000
max_cg_buffer: 1000

6
src/curobo/content/configs/task/particle_ik.yml
View File

@@ -31,6 +31,12 @@ cost:
vec_convergence: [0.00, 0.000] # orientation, position
terminal: False
use_metric: True
link_pose_cfg:
vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
weight: [30, 50, 10, 10] #[20.0, 100.0]
vec_convergence: [0.00, 0.000] # orientation, position
terminal: False
use_metric: True
cspace_cfg:
weight: 0.00
bound_cfg:

17
src/curobo/content/configs/task/particle_trajopt.yml
View File

@@ -29,6 +29,15 @@ model:
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, 20, 20]
vec_convergence: [0.0,0.0,1000.0,1000.0]
terminal: True
run_weight: 0.00
use_metric: True
link_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]
@@ -38,14 +47,14 @@ cost:
use_metric: True
cspace_cfg:
weight: 500.0
weight: 10000.0
terminal: True
run_weight: 0.001
run_weight: 0.0
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]
smooth_weight: [0.0,20.0,0.0,0.0]
run_weight_velocity: 0.0
run_weight_acceleration: 1.0
run_weight_jerk: 1.0
@@ -68,7 +77,7 @@ cost:
mppi:
init_cov : 0.1 #0.5
init_cov : 0.5
gamma : 1.0
n_iters : 2
cold_start_n_iters: 2

2
src/curobo/content/configs/world/collision_nvblox_online.yml
View File

@@ -12,6 +12,6 @@ blox:
world:
pose: [0,0,0,1,0,0,0]
integrator_type: "tsdf"
voxel_size: 0.03
voxel_size: 0.01