kinematics refactor with mimic joint support

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

@@ -28,14 +28,16 @@ model:
 cost:
   pose_cfg:
     vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
-    weight: [1000, 20000, 30, 50]
+    weight: [200,4000,10,20]
+    #weight: [5000,500000,5,20] 
+
     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: [1000, 20000, 30, 50]
+    weight: [200,4000,10,20]
     vec_convergence: [0.00, 0.000] 
     terminal: False
     use_metric: True
@@ -57,15 +59,15 @@ cost:
 
 
 lbfgs:
-  n_iters: 80 #60
-  inner_iters: 20
+  n_iters: 100 #60
+  inner_iters: 25
   cold_start_n_iters: null
-  min_iters: 20
+  min_iters: 25
   line_search_scale:  [0.1, 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
+  cost_convergence: 0.001
+  cost_delta_threshold: 1.0 #0.0001
+  cost_relative_threshold: 0.999
   epsilon: 0.01 #0.01 # used only in stable_mode
   history: 6
   horizon: 1
@@ -73,6 +75,7 @@ lbfgs:
   n_problems: 1
   store_debug: False
   use_cuda_kernel: True
+  use_shared_buffers_kernel: True
   stable_mode: True
   line_search_type: "approx_wolfe" #"wolfe"
   use_cuda_line_search_kernel: True