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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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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