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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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37
src/curobo/content/configs/task/finetune_trajopt.yml
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@@ -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'