hofee/gen_data_curobo
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

constrained planning, robot segmentation

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

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