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Add re-timing, minimum dt robustness

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This commit is contained in:
Balakumar Sundaralingam
2024-04-25 12:24:17 -07:00
parent d6e600c88c
commit 7362ccd4c2
54 changed files with 4773 additions and 2189 deletions
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12
src/curobo/content/configs/robot/franka.yml
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@@ -28,7 +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"
@@ -67,13 +67,13 @@ robot_cfg:
"panda_hand": ["panda_leftfinger", "panda_rightfinger","attached_object"],
"panda_leftfinger": ["panda_rightfinger", "attached_object"],
"panda_rightfinger": ["attached_object"],
}
self_collision_buffer:
{
"panda_link0": 0.1,
"panda_link1": 0.05,
"panda_link0": 0.1,
"panda_link1": 0.05,
"panda_link2": 0.0,
"panda_link3": 0.0,
"panda_link4": 0.0,
@@ -101,7 +101,7 @@ robot_cfg:
"panda_rightfinger",
]
lock_joints: {"panda_finger_joint1": 0.04, "panda_finger_joint2": 0.04}
extra_links: {"attached_object":{"parent_link_name": "panda_hand" ,
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:

8
src/curobo/content/configs/robot/spheres/franka_mesh.yml
View File

@@ -134,11 +134,11 @@ collision_spheres:
"radius": 0.022
panda_leftfinger:
- "center": [0.0, 0.01, 0.043]
"radius": 0.011 #0.025 # 0.011
"radius": 0.011
- "center": [0.0, 0.02, 0.015]
"radius": 0.011 #0.025 # 0.011
"radius": 0.011
panda_rightfinger:
- "center": [0.0, -0.01, 0.043]
"radius": 0.011 #0.025 #0.011
"radius": 0.011
- "center": [0.0, -0.02, 0.015]
"radius": 0.011 #0.025 #0.011
"radius": 0.011

2
src/curobo/content/configs/robot/ur5e_robotiq_2f_140.yml
View File

@@ -23,7 +23,7 @@ robot_cfg:
base_link: "base_link"
ee_link: "grasp_frame"
link_names: null
lock_joints: {'finger_joint': 0.7}
lock_joints: {'finger_joint': 0.3}
extra_links: null #{"attached_object":{"parent_link_name": "grasp_frame" ,
#"link_name": "attached_object", "fixed_transform": [0,0,0,1,0,0,0], "joint_type":"FIXED",

4
src/curobo/content/configs/task/base_cfg.yml
View File

@@ -11,8 +11,8 @@
world_collision_checker_cfg:
cache: null #{"cube": 41, "capsule": 0, "sphere": 0}
checker_type: "PRIMITIVE" # ["PRIMITIVE", "BLOX", "MESH"]
cache: null
checker_type: "PRIMITIVE"
max_distance: 0.1

34
src/curobo/content/configs/task/finetune_trajopt.yml
View File

@@ -19,12 +19,12 @@ model:
acceleration: 1.0
enable: False
dt_traj_params:
base_dt: 0.2
base_dt: 0.15
base_ratio: 1.0
max_dt: 0.2
max_dt: 0.15
vel_scale: 1.0
control_space: 'POSITION'
state_finite_difference_mode: "CENTRAL"
state_finite_difference_mode: "CENTRAL"
teleport_mode: False
return_full_act_buffer: True
@@ -35,7 +35,7 @@ cost:
weight: [2000,500000.0,30,60]
vec_convergence: [0.0,0.0] # orientation, position, orientation metric activation, position metric activation
terminal: True
run_weight: 1.0
run_weight: 1.0
use_metric: True
link_pose_cfg:
@@ -47,19 +47,19 @@ cost:
run_weight: 1.0
use_metric: True
cspace_cfg:
weight: 10000.0
terminal: True
run_weight: 0.00 #1
bound_cfg:
weight: [10000.0, 500000.0, 500.0, 500.0]
smooth_weight: [0.0,10000.0, 5.0, 0.0]
weight: [10000.0, 500000.0, 500.0, 500.0]
smooth_weight: [0.0,10000.0, 5.0, 0.0]
run_weight_velocity: 0.0
run_weight_acceleration: 1.0
run_weight_jerk: 1.0
activation_distance: [0.1,0.1,0.1,0.1] # for position, velocity, acceleration and jerk
activation_distance: [0.05,0.05,0.05,0.05] # for position, velocity, acceleration and jerk
null_space_weight: [0.0]
primitive_collision_cfg:
@@ -75,21 +75,21 @@ cost:
self_collision_cfg:
weight: 5000.0
classify: False
lbfgs:
n_iters: 300
inner_iters: 25
cold_start_n_iters: null
n_iters: 400
inner_iters: 25
cold_start_n_iters: null
min_iters: 25
line_search_scale: [0.1, 0.3, 0.7,1.0] # #
fixed_iters: True
cost_convergence: 0.01
cost_delta_threshold: 1.0
cost_relative_threshold: 0.999 #0.999
cost_convergence: 0.001
cost_delta_threshold: 0.0001
cost_relative_threshold: 0.99
epsilon: 0.01
history: 27 #15
history: 27
use_cuda_graph: True
n_problems: 1
store_debug: False

34
src/curobo/content/configs/task/finetune_trajopt_slow.yml
View File

@@ -19,9 +19,9 @@ model:
acceleration: 1.0
enable: False
dt_traj_params:
base_dt: 0.2
base_dt: 0.15
base_ratio: 1.0
max_dt: 0.2
max_dt: 0.15
vel_scale: 1.0
control_space: 'POSITION'
state_finite_difference_mode: "CENTRAL"
@@ -31,22 +31,21 @@ 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: [1.00,1.00,1.00,1.0,1.0,1.0] # running weight orientation, position
weight: [2000,500000.0,30,50] #[150.0, 2000.0, 30, 40]
run_vec_weight: [0.00,0.00,0.00,0.0,0.0,0.0] # running weight orientation, position
weight: [2000,500000.0,30,60]
vec_convergence: [0.0,0.0] # orientation, position, orientation metric activation, position metric activation
terminal: True
run_weight: 0.0 #0.05
run_weight: 1.0
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]
run_vec_weight: [0.00,0.00,0.00,0.0,0.0,0.0] # running weight orientation, position
weight: [2000,500000.0,30,60] #[150.0, 2000.0, 30, 40]
vec_convergence: [0.0,0.0] # orientation, position, orientation metric activation, position metric activation
terminal: True
run_weight: 0.001
run_weight: 1.0
use_metric: True
cspace_cfg:
weight: 10000.0
@@ -54,12 +53,12 @@ cost:
run_weight: 0.00 #1
bound_cfg:
weight: [10000.0, 100000.0, 500.0, 500.0]
smooth_weight: [0.0,10000.0, 50.0, 0.0]
weight: [10000.0, 500000.0, 500.0, 500.0]
smooth_weight: [0.0,10000.0, 5.0, 0.0]
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
activation_distance: [0.05,0.05,0.05,0.05] # for position, velocity, acceleration and jerk
null_space_weight: [0.0]
primitive_collision_cfg:
@@ -75,21 +74,20 @@ cost:
self_collision_cfg:
weight: 5000.0
classify: False
lbfgs:
n_iters: 400 # 400
n_iters: 400
inner_iters: 25
cold_start_n_iters: 200
cold_start_n_iters: null
min_iters: 25
line_search_scale: [0.01, 0.3, 0.7,1.0] # #
line_search_scale: [0.1, 0.3, 0.7,1.0] # #
fixed_iters: True
cost_convergence: 0.01
cost_delta_threshold: 1.0
cost_relative_threshold: 0.999 #0.999
epsilon: 0.01
history: 15 #15
history: 27 #15
use_cuda_graph: True
n_problems: 1
store_debug: False

18
src/curobo/content/configs/task/gradient_ik.yml
View File

@@ -29,32 +29,30 @@ cost:
pose_cfg:
vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
weight: [2000,10000,20,40]
vec_convergence: [0.0, 0.00]
vec_convergence: [0.0, 0.00]
terminal: False
use_metric: True
run_weight: 1.0
link_pose_cfg:
vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
weight: [2000,10000,20,40]
vec_convergence: [0.00, 0.000]
vec_convergence: [0.00, 0.000]
terminal: False
use_metric: True
run_weight: 1.0
cspace_cfg:
weight: 0.000
bound_cfg:
weight: 500.0
activation_distance: [0.1]
null_space_weight: [1.0]
weight: 5000.0
activation_distance: [0.001]
null_space_weight: [0.1]
primitive_collision_cfg:
weight: 5000.0
use_sweep: False
classify: False
activation_distance: 0.01
self_collision_cfg:
weight: 500.0
weight: 5000.0
classify: False
@@ -81,10 +79,10 @@ lbfgs:
use_cuda_line_search_kernel: True
use_cuda_update_best_kernel: True
sync_cuda_time: True
step_scale: 1.0
step_scale: 1.0
use_coo_sparse: True
last_best: 10
debug_info:
visual_traj : null #'ee_pos_seq'

22
src/curobo/content/configs/task/gradient_trajopt.yml
View File

@@ -19,12 +19,12 @@ model:
acceleration: 1.0
enable: False
dt_traj_params:
base_dt: 0.2
base_dt: 0.15
base_ratio: 1.0
max_dt: 0.2
max_dt: 0.15
vel_scale: 1.0
control_space: 'POSITION'
state_finite_difference_mode: "CENTRAL"
state_finite_difference_mode: "CENTRAL"
teleport_mode: False
return_full_act_buffer: True
@@ -48,17 +48,17 @@ cost:
use_metric: True
cspace_cfg:
weight: 1000.0
weight: 10000.0
terminal: True
run_weight: 0.0
bound_cfg:
weight: [50000.0, 50000.0, 50000.0,50000.0]
smooth_weight: [0.0,10000.0,5.0, 0.0]
weight: [50000.0, 50000.0, 500.0,500.0]
smooth_weight: [0.0,10000.0,5.0, 0.0]
run_weight_velocity: 0.00
run_weight_acceleration: 1.0
run_weight_jerk: 1.0
activation_distance: [0.1,0.1,0.1,0.1] # for position, velocity, acceleration and jerk
activation_distance: [0.05,0.05,0.05,0.05] # for position, velocity, acceleration and jerk
null_space_weight: [0.0]
primitive_collision_cfg:
@@ -75,13 +75,13 @@ cost:
self_collision_cfg:
weight: 5000.0
classify: False
lbfgs:
n_iters: 100 #175
inner_iters: 25
cold_start_n_iters: null
inner_iters: 25
cold_start_n_iters: null
min_iters: 25
line_search_scale: [0.1,0.3,0.7,1.0]
fixed_iters: True

24
src/curobo/content/configs/task/particle_trajopt.yml
View File

@@ -18,9 +18,9 @@ model:
acceleration: 1.0
enable: False
dt_traj_params:
base_dt: 0.2
base_dt: 0.15
base_ratio: 1.0
max_dt: 0.2
max_dt: 0.15
vel_scale: 1.0
control_space: 'POSITION'
teleport_mode: False
@@ -30,22 +30,22 @@ model:
cost:
pose_cfg:
vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
run_vec_weight: [0.0,0.0,0.0,0.0,0.0,0.0] # running weight
run_vec_weight: [0.0,0.0,0.0,0.0,0.0,0.0] # running weight
weight: [250.0, 5000.0, 20, 20]
vec_convergence: [0.0,0.0,1000.0,1000.0]
vec_convergence: [0.0,0.0,1000.0,1000.0]
terminal: True
run_weight: 0.0
use_metric: True
link_pose_cfg:
vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
run_vec_weight: [0.0,0.0,0.0,0.0,0.0,0.0] # running weight
run_vec_weight: [0.0,0.0,0.0,0.0,0.0,0.0] # running weight
weight: [0.0, 5000.0, 40, 40]
vec_convergence: [0.0,0.0,1000.0,1000.0]
vec_convergence: [0.0,0.0,1000.0,1000.0]
terminal: True
run_weight: 0.00
run_weight: 0.00
use_metric: True
cspace_cfg:
weight: 10000.0
terminal: True
@@ -74,8 +74,8 @@ cost:
self_collision_cfg:
weight: 500.0
classify: False
mppi:
@@ -89,7 +89,7 @@ mppi:
alpha : 1
num_particles : 25 # 100
update_cov : True
cov_type : "DIAG_A" #
cov_type : "DIAG_A" #
kappa : 0.001
null_act_frac : 0.0
sample_mode : 'MEAN'