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constrained planning, robot segmentation

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This commit is contained in:
Balakumar Sundaralingam
2024-02-22 21:45:47 -08:00
parent 88eac64edc
commit bafdf80c05
102 changed files with 12440 additions and 8112 deletions
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11
src/curobo/content/assets/robot/franka_description/franka_panda.urdf
View File

@@ -172,7 +172,7 @@
<dynamics damping="10.0"/>
<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
</joint>
<!--
<link name="panda_link8"/>
<joint name="panda_joint8" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.107"/>
@@ -180,18 +180,11 @@
<child link="panda_link8"/>
<axis xyz="0 0 0"/>
</joint>
Removing this joint seems to help with some stability things
-->
<joint name="panda_hand_joint" type="fixed">
<!--
<parent link="panda_link8"/>
-->
<parent link="panda_link7"/>
<child link="panda_hand"/>
<origin rpy="0 0 -0.785398163397" xyz="0 0 0.107"/>
<!--
<origin rpy="0 0 -0.785398163397" xyz="0 0 0"/>
-->
</joint>
<link name="panda_hand">
<visual>

6
src/curobo/content/configs/robot/franka.yml
View File

@@ -13,7 +13,7 @@ robot_cfg:
kinematics:
use_usd_kinematics: False
isaac_usd_path: "/Isaac/Robots/Franka/franka.usd"
usd_path: "robot/non_shipping/franka/franka_panda_meters.usda"
usd_path: "robot/franka/franka_panda.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"]
@@ -32,7 +32,7 @@ robot_cfg:
usd_flip_joint_limits: ["panda_finger_joint2"]
urdf_path: "robot/franka_description/franka_panda.urdf"
asset_root_path: "robot/franka_description"
base_link: "base_link"
base_link: "panda_link0"
ee_link: "panda_hand"
collision_link_names:
[
@@ -50,7 +50,7 @@ robot_cfg:
"attached_object",
]
collision_spheres: "spheres/franka_mesh.yml"
collision_sphere_buffer: 0.0025
collision_sphere_buffer: 0.004 # 0.0025
extra_collision_spheres: {"attached_object": 4}
use_global_cumul: True
self_collision_ignore:

2
src/curobo/content/configs/robot/franka_mobile.yml
View File

@@ -109,7 +109,7 @@ robot_cfg:
"base_x", "base_y", "base_z",
"panda_joint1","panda_joint2","panda_joint3","panda_joint4", "panda_joint5",
"panda_joint6","panda_joint7","panda_finger_joint1", "panda_finger_joint2"]
retract_config: [0,0,0,0.0, -1.3, 0.0, -2.5, 0.0, 1.0, 0., 0.04, 0.04]
retract_config: [0,0,0,0, -1.3, 0.0, -2.5, 0.0, 1.0, 0., 0.04, 0.04]
null_space_weight: [1,1,1,1,1,1,1,1,1,1,1,1]
cspace_distance_weight: [1,1,1,1,1,1,1,1,1,1,1,1]
max_acceleration: 15.0 #15.0

2
src/curobo/content/configs/robot/tm12.yml
View File

@@ -12,7 +12,7 @@
robot_cfg:
kinematics:
use_usd_kinematics: False
usd_path: "robot/non_shipping/techman/tm12.usd"
usd_path: "robot/techman/tm12.usd"
usd_robot_root: "/tm12"
usd_flip_joints:
{

2
src/curobo/content/configs/robot/ur5e.yml
View File

@@ -49,7 +49,7 @@ robot_cfg:
- "center": [-0.055, 0.008, 0.14]
"radius": 0.07
- "center": [-0.001, -0.002, 0.143]
"radius": 0.076
"radius": 0.08
forearm_link:
- "center": [-0.01, 0.002, 0.031]
"radius": 0.072

21
src/curobo/content/configs/task/finetune_trajopt.yml
View File

@@ -31,22 +31,23 @@ model:
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: [1.00,1.00,1.00,1.0,1.0,1.0] # running weight orientation, position
weight: [2000,500000.0,30,50] #[150.0, 2000.0, 30, 40]
run_vec_weight: [0.00,0.00,0.00,0.0,0.0,0.0] # running weight orientation, position
weight: [2000,500000.0,30,50]
vec_convergence: [0.0,0.0] # orientation, position, orientation metric activation, position metric activation
terminal: True
run_weight: 0.0 #0.05
run_weight: 1.0
use_metric: True
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: [2000,500000.0,30,50] #[150.0, 2000.0, 30, 40]
vec_convergence: [0.0,0.0] # orientation, position, orientation metric activation, position metric activation
terminal: True
run_weight: 0.0
run_weight: 0.001
use_metric: True
cspace_cfg:
weight: 10000.0
terminal: True
@@ -54,7 +55,7 @@ cost:
bound_cfg:
weight: [5000.0, 50000.0, 50000.0, 50000.0] # needs to be 3 values
smooth_weight: [0.0,2000.0, 50.0, 0.0] # [vel, acc, jerk,]
smooth_weight: [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
@@ -78,11 +79,11 @@ cost:
lbfgs:
n_iters: 400
n_iters: 400 # 400
inner_iters: 25
cold_start_n_iters: 200
cold_start_n_iters: null
min_iters: 25
line_search_scale: [0.01, 0.3,0.7,1.0] # #
line_search_scale: [0.01, 0.3, 0.7,1.0] # #
fixed_iters: True
cost_convergence: 0.01
cost_delta_threshold: 1.0
@@ -90,7 +91,7 @@ lbfgs:
epsilon: 0.01
history: 15 #15
use_cuda_graph: True
n_envs: 1
n_problems: 1
store_debug: False
use_cuda_kernel: True
stable_mode: True

109
src/curobo/content/configs/task/finetune_trajopt_slow.yml Normal file
View File

@@ -0,0 +1,109 @@
##
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
##
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
## property and proprietary rights in and to this material, related
## documentation and any modifications thereto. Any use, reproduction,
## disclosure or distribution of this material and related documentation
## without an express license agreement from NVIDIA CORPORATION or
## its affiliates is strictly prohibited.
##
model:
horizon: 32
state_filter_cfg:
filter_coeff:
position: 1.0
velocity: 1.0
acceleration: 1.0
enable: False
dt_traj_params:
base_dt: 0.2
base_ratio: 1.0
max_dt: 0.2
vel_scale: 1.0
control_space: 'POSITION'
state_finite_difference_mode: "CENTRAL"
teleport_mode: False
return_full_act_buffer: True
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: [1.00,1.00,1.00,1.0,1.0,1.0] # running weight orientation, position
weight: [2000,500000.0,30,50] #[150.0, 2000.0, 30, 40]
vec_convergence: [0.0,0.0] # orientation, position, orientation metric activation, position metric activation
terminal: True
run_weight: 0.0 #0.05
use_metric: True
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
weight: [2000,500000.0,30,50] #[150.0, 2000.0, 30, 40]
vec_convergence: [0.0,0.0] # orientation, position, orientation metric activation, position metric activation
terminal: True
run_weight: 0.001
use_metric: True
cspace_cfg:
weight: 10000.0
terminal: True
run_weight: 0.00 #1
bound_cfg:
weight: [5000.0, 50000.0, 50000.0, 50000.0] # needs to be 3 values
smooth_weight: [0.0,50000.0, 500.0, 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
null_space_weight: [0.0]
primitive_collision_cfg:
weight: 1000000.0
use_sweep: True
sweep_steps: 6
classify: False
use_sweep_kernel: True
use_speed_metric: True
speed_dt: 0.01 # used only for speed metric
activation_distance: 0.025
self_collision_cfg:
weight: 5000.0
classify: False
lbfgs:
n_iters: 400 # 400
inner_iters: 25
cold_start_n_iters: 200
min_iters: 25
line_search_scale: [0.01, 0.3, 0.7,1.0] # #
fixed_iters: True
cost_convergence: 0.01
cost_delta_threshold: 1.0
cost_relative_threshold: 0.999 #0.999
epsilon: 0.01
history: 15 #15
use_cuda_graph: True
n_problems: 1
store_debug: False
use_cuda_kernel: True
stable_mode: True
line_search_type: "approx_wolfe"
use_cuda_line_search_kernel: True
use_cuda_update_best_kernel: True
use_temporal_smooth: False
sync_cuda_time: True
step_scale: 1.0
last_best: 10
use_coo_sparse: True
debug_info:
visual_traj : null #'ee_pos_seq'

5
src/curobo/content/configs/task/gradient_ik.yml
View File

@@ -32,6 +32,7 @@ cost:
vec_convergence: [0.0, 0.00]
terminal: False
use_metric: True
run_weight: 1.0
link_pose_cfg:
vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
weight: [1000, 20000, 30, 50]
@@ -58,7 +59,7 @@ cost:
lbfgs:
n_iters: 100 #60
inner_iters: 25
cold_start_n_iters: 100
cold_start_n_iters: null
min_iters: 20
line_search_scale: [0.01, 0.3, 0.7, 1.0]
fixed_iters: True
@@ -69,7 +70,7 @@ lbfgs:
history: 6
horizon: 1
use_cuda_graph: True
n_envs: 1
n_problems: 1
store_debug: False
use_cuda_kernel: True
stable_mode: True

2
src/curobo/content/configs/task/gradient_mpc.yml
View File

@@ -83,7 +83,7 @@ lbfgs:
epsilon: 0.01
history: 15 #15
use_cuda_graph: True
n_envs: 1
n_problems: 1
store_debug: False
use_cuda_kernel: True
stable_mode: True

14
src/curobo/content/configs/task/gradient_trajopt.yml
View File

@@ -31,11 +31,11 @@ model:
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: [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: [2000,50000.0,30,60] #[150.0, 2000.0, 30, 40]
vec_convergence: [0.0,0.0] # orientation, position, orientation metric activation, position metric activation
terminal: True
run_weight: 0.00
run_weight: 1.0
use_metric: True
link_pose_cfg:
@@ -44,7 +44,7 @@ cost:
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: 0.0
run_weight: 0.001
use_metric: True
cspace_cfg:
@@ -54,7 +54,9 @@ 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
@@ -79,9 +81,9 @@ cost:
lbfgs:
n_iters: 175 #175
n_iters: 125 #175
inner_iters: 25
cold_start_n_iters: 150
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] #
fixed_iters: True
@@ -91,7 +93,7 @@ lbfgs:
epsilon: 0.01
history: 15
use_cuda_graph: True
n_envs: 1
n_problems: 1
store_debug: False
use_cuda_kernel: True
stable_mode: True

7
src/curobo/content/configs/task/particle_ik.yml
View File

@@ -31,6 +31,7 @@ cost:
vec_convergence: [0.00, 0.000] # orientation, position
terminal: False
use_metric: True
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]
@@ -56,7 +57,7 @@ mppi:
init_cov : 1.0 #0.15 #.5 #.5
gamma : 1.0
n_iters : 4
cold_start_n_iters: 4
cold_start_n_iters: null
step_size_mean : 0.9
step_size_cov : 0.1
beta : 0.01
@@ -69,12 +70,12 @@ mppi:
sample_mode : 'BEST'
base_action : 'REPEAT'
squash_fn : 'CLAMP'
n_envs : 1
n_problems : 1
use_cuda_graph : True
seed : 0
store_debug : False
random_mean : False
sample_per_env : True
sample_per_problem: True
sync_cuda_time : False
use_coo_sparse : True
sample_params:

4
src/curobo/content/configs/task/particle_mpc.yml
View File

@@ -89,12 +89,12 @@ mppi:
sample_mode : 'BEST'
base_action : 'REPEAT'
squash_fn : 'CLAMP'
n_envs : 1
n_problems : 1
use_cuda_graph : True
seed : 0
store_debug : False
random_mean : True
sample_per_env : False
sample_per_problem: False
sync_cuda_time : True
use_coo_sparse : True
sample_params:

16
src/curobo/content/configs/task/particle_trajopt.yml
View File

@@ -30,17 +30,17 @@ model:
cost:
pose_cfg:
vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
run_vec_weight: [1.0,1.0,1.0,1.0,1.0,1.0] # running weight
run_vec_weight: [0.0,0.0,0.0,0.0,0.0,0.0] # running weight
weight: [250.0, 5000.0, 20, 20]
vec_convergence: [0.0,0.0,1000.0,1000.0]
terminal: True
run_weight: 0.00
run_weight: 1.0
use_metric: True
link_pose_cfg:
vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
run_vec_weight: [1.0,1.0,1.0,1.0,1.0,1.0] # running weight
weight: [250.0, 5000.0, 40, 40]
run_vec_weight: [0.00,0.00,0.00,0.0,0.0,0.0] # running weight orientation, position
weight: [0.0, 5000.0, 40, 40]
vec_convergence: [0.0,0.0,1000.0,1000.0]
terminal: True
run_weight: 0.00
@@ -54,10 +54,12 @@ cost:
bound_cfg:
weight: [0.1, 0.1,0.0,0.0]
activation_distance: [0.0,0.0,0.0,0.0] #-#0.01
#smooth_weight: [0.0,100.0,1.0,0.0]
smooth_weight: [0.0,20.0,0.0,0.0]
run_weight_velocity: 0.0
run_weight_acceleration: 1.0
run_weight_jerk: 1.0
null_space_weight: [0.00]
primitive_collision_cfg:
weight: 5000.0
@@ -80,7 +82,7 @@ mppi:
init_cov : 0.5
gamma : 1.0
n_iters : 2
cold_start_n_iters: 2
cold_start_n_iters: null
step_size_mean : 0.9
step_size_cov : 0.01
beta : 0.01
@@ -93,12 +95,12 @@ mppi:
sample_mode : 'BEST'
base_action : 'REPEAT'
squash_fn : 'CLAMP'
n_envs : 1
n_problems : 1
use_cuda_graph : True
seed : 0
store_debug : False
random_mean : True
sample_per_env : True
sample_per_problem: True
sync_cuda_time : False
use_coo_sparse : True
sample_params:

2
src/curobo/content/configs/world/collision_table.yml
View File

@@ -11,4 +11,4 @@
cuboid:
table:
dims: [5.0, 5.0, 0.2] # x, y, z
pose: [0.0, 0.0, -0.1, 1, 0, 0, 0.0] # x, y, z, qx, qy, qz, qw
pose: [0.0, 0.0, -0.1, 1, 0, 0, 0.0] # x, y, z, qx, qy, qz, qw