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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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34
src/curobo/content/configs/task/finetune_trajopt.yml
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@@ -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