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Significantly improved convergence for mesh and cuboid, new ESDF collision.

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This commit is contained in:
Balakumar Sundaralingam
2024-03-18 11:19:48 -07:00
parent 286b3820a5
commit b1f63e8778
100 changed files with 7587 additions and 2589 deletions
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1
src/curobo/content/assets/robot/franka_description/franka_test.urdf
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@@ -280,6 +280,7 @@
<origin rpy="0 0 0" xyz="0 -0.04 0.0584"/>
<axis xyz="0 -1 0"/>
<limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
<mimic joint="panda_finger_joint1"/>
</joint>
<link name="right_gripper">
<inertial>

2
src/curobo/content/configs/robot/franka.yml
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@@ -13,7 +13,7 @@ robot_cfg:
kinematics:
use_usd_kinematics: False
isaac_usd_path: "/Isaac/Robots/Franka/franka.usd"
usd_path: "robot/franka/franka_panda.usda"
usd_path: "robot/non_shipping/franka/franka_panda_meters.usda"
usd_robot_root: "/panda"
usd_flip_joints: ["panda_joint1","panda_joint2","panda_joint3","panda_joint4", "panda_joint5",
"panda_joint6","panda_joint7","panda_finger_joint1", "panda_finger_joint2"]

8
src/curobo/content/configs/robot/iiwa.yml
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@@ -39,7 +39,13 @@ robot_cfg:
}
urdf_path: robot/iiwa_allegro_description/iiwa.urdf
asset_root_path: robot/iiwa_allegro_description
mesh_link_names:
- iiwa7_link_1
- iiwa7_link_2
- iiwa7_link_3
- iiwa7_link_4
- iiwa7_link_5
- iiwa7_link_6
cspace:
joint_names:
[

19
src/curobo/content/configs/robot/iiwa_allegro.yml
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@@ -30,6 +30,25 @@ robot_cfg:
- ring_link_3
- thumb_link_2
- thumb_link_3
mesh_link_names:
- iiwa7_link_1
- iiwa7_link_2
- iiwa7_link_3
- iiwa7_link_4
- iiwa7_link_5
- iiwa7_link_6
- palm_link
- index_link_1
- index_link_2
- index_link_3
- middle_link_1
- middle_link_2
- middle_link_3
- ring_link_1
- ring_link_2
- ring_link_3
- thumb_link_2
- thumb_link_3
collision_sphere_buffer: 0.005
collision_spheres: spheres/iiwa_allegro.yml
ee_link: palm_link

8
src/curobo/content/configs/robot/spheres/franka_mesh.yml
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@@ -134,11 +134,11 @@ collision_spheres:
"radius": 0.022
panda_leftfinger:
- "center": [0.0, 0.01, 0.043]
"radius": 0.011 # 25
"radius": 0.011 #0.025 # 0.011
- "center": [0.0, 0.02, 0.015]
"radius": 0.011 # 25
"radius": 0.011 #0.025 # 0.011
panda_rightfinger:
- "center": [0.0, -0.01, 0.043]
"radius": 0.011 #25
"radius": 0.011 #0.025 #0.011
- "center": [0.0, -0.02, 0.015]
"radius": 0.011 #25
"radius": 0.011 #0.025 #0.011

2
src/curobo/content/configs/robot/spheres/ur10e.yml
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@@ -58,7 +58,7 @@ collision_spheres:
radius: 0.07
tool0:
- center: [0, 0, 0.12]
radius: 0.05
radius: -0.01
camera_mount:
- center: [0, 0.11, -0.01]
radius: 0.06

2
src/curobo/content/configs/robot/ur10e.yml
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@@ -38,7 +38,7 @@ robot_cfg:
'wrist_1_link': 0,
'wrist_2_link': 0,
'wrist_3_link' : 0,
'tool0': 0,
'tool0': 0.05,
}
mesh_link_names: [ 'shoulder_link','upper_arm_link', 'forearm_link', 'wrist_1_link', 'wrist_2_link' ,'wrist_3_link' ]
lock_joints: null

3
src/curobo/content/configs/robot/ur5e.yml
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@@ -92,7 +92,7 @@ robot_cfg:
"radius": 0.043
tool0:
- "center": [0.001, 0.001, 0.05]
"radius": 0.05
"radius": -0.01 #0.05
collision_sphere_buffer: 0.005
@@ -109,6 +109,7 @@ robot_cfg:
'wrist_1_link': 0,
'wrist_2_link': 0,
'wrist_3_link' : 0,
'tool0': 0.025,
}
use_global_cumul: True

12
src/curobo/content/configs/task/finetune_trajopt.yml
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@@ -55,17 +55,17 @@ cost:
bound_cfg:
weight: [5000.0, 50000.0, 50000.0, 50000.0] # needs to be 3 values
smooth_weight: [0.0,5000.0, 50.0, 0.0] # [vel, acc, jerk,]
smooth_weight: [0.0,5000.0, 50.0, 0.0] #[0.0,5000.0, 50.0, 0.0] # [vel, acc, jerk,]
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: [0.1,0.1,0.1,0.1] # for position, velocity, acceleration and jerk
null_space_weight: [0.0]
primitive_collision_cfg:
weight: 1000000.0
weight: 1000000.0 #1000000.0 1000000
use_sweep: True
sweep_steps: 6
sweep_steps: 4
classify: False
use_sweep_kernel: True
use_speed_metric: True
@@ -79,7 +79,7 @@ cost:
lbfgs:
n_iters: 400 # 400
n_iters: 300 # 400
inner_iters: 25
cold_start_n_iters: null
min_iters: 25
@@ -89,7 +89,7 @@ lbfgs:
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

8
src/curobo/content/configs/task/gradient_ik.yml
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@@ -47,7 +47,7 @@ cost:
activation_distance: [0.1]
null_space_weight: [1.0]
primitive_collision_cfg:
weight: 50000.0
weight: 5000.0
use_sweep: False
classify: False
activation_distance: 0.01
@@ -57,11 +57,11 @@ cost:
lbfgs:
n_iters: 100 #60
inner_iters: 25
n_iters: 80 #60
inner_iters: 20
cold_start_n_iters: null
min_iters: 20
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: 1e-7
cost_delta_threshold: 1e-6 #0.0001

12
src/curobo/content/configs/task/gradient_trajopt.yml
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@@ -40,7 +40,7 @@ cost:
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
run_vec_weight: [0.00,0.00,0.00,0.0,0.0,0.0] # running weight orientation, position
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
@@ -54,19 +54,17 @@ cost:
bound_cfg:
weight: [5000.0, 50000.0, 50000.0,50000.0] # needs to be 3 values
#weight: [000.0, 000.0, 000.0,000.0]
smooth_weight: [0.0,10000.0,10.0, 0.0] # [vel, acc, jerk, alpha_v-not-used]
#smooth_weight: [0.0,0000.0,0.0, 0.0] # [vel, acc, jerk, alpha_v-not-used]
run_weight_velocity: 0.00
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: [0.1,0.1,0.1,0.1] # for position, velocity, acceleration and jerk
null_space_weight: [0.0]
primitive_collision_cfg:
weight: 100000.0
use_sweep: True
sweep_steps: 6
sweep_steps: 4
classify: False
use_sweep_kernel: True
use_speed_metric: True
@@ -81,11 +79,11 @@ cost:
lbfgs:
n_iters: 125 #175
n_iters: 100 #175
inner_iters: 25
cold_start_n_iters: null
min_iters: 25
line_search_scale: [0.01,0.3,0.7,1.0] #[0.01,0.2, 0.3,0.5,0.7,0.9, 1.0] #
line_search_scale: [0.01,0.3,0.7,1.0]
fixed_iters: True
cost_convergence: 0.01
cost_delta_threshold: 2000.0

2
src/curobo/content/configs/task/graph.yml
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@@ -33,7 +33,7 @@ graph:
sample_pts: 1500
node_similarity_distance: 0.1
rejection_ratio: 20
rejection_ratio: 10
k_nn: 15
max_buffer: 10000
max_cg_buffer: 1000

4
src/curobo/content/configs/task/particle_ik.yml
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@@ -34,7 +34,7 @@ cost:
run_weight: 1.0
link_pose_cfg:
vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
weight: [30, 50, 10, 10] #[20.0, 100.0]
weight: [0, 50, 10, 10] #[20.0, 100.0]
vec_convergence: [0.00, 0.000] # orientation, position
terminal: False
use_metric: True
@@ -67,7 +67,7 @@ mppi:
cov_type : "DIAG_A" #
kappa : 0.01
null_act_frac : 0.0
sample_mode : 'BEST'
sample_mode : 'MEAN'
base_action : 'REPEAT'
squash_fn : 'CLAMP'
n_problems : 1

2
src/curobo/content/configs/task/particle_mpc.yml
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@@ -89,7 +89,7 @@ mppi:
sample_mode : 'BEST'
base_action : 'REPEAT'
squash_fn : 'CLAMP'
n_problems : 1
n_problems : 1
use_cuda_graph : True
seed : 0
store_debug : False

10
src/curobo/content/configs/task/particle_trajopt.yml
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@@ -39,7 +39,7 @@ cost:
link_pose_cfg:
vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
run_vec_weight: [0.00,0.00,0.00,0.0,0.0,0.0] # running weight orientation, position
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]
terminal: True
@@ -63,11 +63,11 @@ cost:
primitive_collision_cfg:
weight: 5000.0
use_sweep: True
use_sweep: False
classify: False
sweep_steps: 4
use_sweep_kernel: True
use_speed_metric: True
use_sweep_kernel: False
use_speed_metric: False
speed_dt: 0.01 # used only for speed metric
activation_distance: 0.025
@@ -92,7 +92,7 @@ mppi:
cov_type : "DIAG_A" #
kappa : 0.001
null_act_frac : 0.0
sample_mode : 'BEST'
sample_mode : 'MEAN'
base_action : 'REPEAT'
squash_fn : 'CLAMP'
n_problems : 1