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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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21
src/curobo/content/configs/task/finetune_trajopt.yml
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@@ -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