constrained planning, robot segmentation

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

@@ -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