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kinematics refactor with mimic joint support

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This commit is contained in:
Balakumar Sundaralingam
2024-04-03 18:42:01 -07:00
parent b481ee201a
commit 774dcfd609
60 changed files with 2177 additions and 810 deletions
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5
src/curobo/content/configs/task/gradient_trajopt.yml
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@@ -32,7 +32,8 @@ 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: [0.00,0.00,0.00,0.0,0.0,0.0] # running weight orientation, position
weight: [2000,50000.0,30,60] #[150.0, 2000.0, 30, 40]
weight: [2000,50000.0,30,50] #[150.0, 2000.0, 30, 40]
vec_convergence: [0.0,0.0] # orientation, position, orientation metric activation, position metric activation
terminal: True
run_weight: 1.0
@@ -62,7 +63,7 @@ cost:
null_space_weight: [0.0]
primitive_collision_cfg:
weight: 100000.0
weight: 100000
use_sweep: True
sweep_steps: 4
classify: False