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

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

@@ -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