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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/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