Add re-timing, minimum dt robustness

src/curobo/content/configs/task/gradient_trajopt.yml

@@ -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