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Improved precision, quality and js planner.

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This commit is contained in:
Balakumar Sundaralingam
2024-04-11 13:19:01 -07:00
parent 774dcfd609
commit d6e600c88c
51 changed files with 2128 additions and 1054 deletions
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2
src/curobo/content/configs/robot/template.yml
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@@ -29,7 +29,7 @@ robot_cfg:
collision_link_names: null # List[str]
collision_spheres: null #
collision_sphere_buffer: 0.005
collision_sphere_buffer: 0.005 # float or Dict[str, float]
extra_collision_spheres: {}
self_collision_ignore: {} # Dict[str, List[str]]
self_collision_buffer: {} # Dict[str, float]

7
src/curobo/content/configs/robot/ur5e.yml
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@@ -11,7 +11,7 @@
robot_cfg:
kinematics:
usd_path: "robot/ur_description/ur5e.usd"
usd_path: null
usd_robot_root: "/robot"
isaac_usd_path: ""
usd_flip_joints: {}
@@ -95,10 +95,11 @@ robot_cfg:
"radius": -0.01 #0.05
collision_sphere_buffer: 0.005
collision_sphere_buffer: 0.0
extra_collision_spheres: {}
self_collision_ignore: {
"upper_arm_link": ["forearm_link", "shoulder_link"],
"shoulder_link": ["tool0"],
"upper_arm_link": ["forearm_link", "shoulder_link", "tool0"],
"forearm_link": ["wrist_1_link", "wrist_2_link", "wrist_3_link"],
"wrist_1_link": ["wrist_2_link","wrist_3_link","tool0"],
"wrist_2_link": ["wrist_3_link", "tool0"],

5
src/curobo/content/configs/task/base_cfg.yml
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@@ -43,6 +43,7 @@ constraint:
classify: True
bound_cfg:
weight: [5000.0, 5000.0, 5000.0,5000.0]
activation_distance: [0.0,0.0,0.0,0.0] # for position, velocity, acceleration and jerk
@@ -54,14 +55,14 @@ convergence:
terminal: False
link_pose_cfg:
vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
weight: [1.0, 1.0]
weight: [0.1, 10.0]
vec_convergence: [0.0, 0.0] # orientation, position
terminal: False
cspace_cfg:
weight: 1.0
terminal: True
run_weight: 1.0
run_weight: 0.0
null_space_cfg:
weight: 1.0
terminal: True

16
src/curobo/content/configs/task/finetune_trajopt.yml
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@@ -32,7 +32,7 @@ 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: [0.00,0.00,0.00,0.0,0.0,0.0] # running weight orientation, position
weight: [2000,500000.0,30,50]
weight: [2000,500000.0,30,60]
vec_convergence: [0.0,0.0] # orientation, position, orientation metric activation, position metric activation
terminal: True
run_weight: 1.0
@@ -41,10 +41,10 @@ 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: [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]
weight: [2000,500000.0,30,60] #[150.0, 2000.0, 30, 40]
vec_convergence: [0.0,0.0] # orientation, position, orientation metric activation, position metric activation
terminal: True
run_weight: 0.001
run_weight: 1.0
use_metric: True
@@ -54,8 +54,8 @@ cost:
run_weight: 0.00 #1
bound_cfg:
weight: [5000.0, 50000.0, 50000.0, 50000.0] # needs to be 3 values
smooth_weight: [0.0,5000.0, 50.0, 0.0] #[0.0,5000.0, 50.0, 0.0] # [vel, acc, jerk,]
weight: [10000.0, 500000.0, 500.0, 500.0]
smooth_weight: [0.0,10000.0, 5.0, 0.0]
run_weight_velocity: 0.0
run_weight_acceleration: 1.0
run_weight_jerk: 1.0
@@ -63,7 +63,7 @@ cost:
null_space_weight: [0.0]
primitive_collision_cfg:
weight: 1000000.0 #1000000.0 1000000
weight: 1000000
use_sweep: True
sweep_steps: 4
classify: False
@@ -79,11 +79,11 @@ cost:
lbfgs:
n_iters: 300 # 400
n_iters: 300
inner_iters: 25
cold_start_n_iters: null
min_iters: 25
line_search_scale: [0.01, 0.3, 0.7,1.0] # #
line_search_scale: [0.1, 0.3, 0.7,1.0] # #
fixed_iters: True
cost_convergence: 0.01
cost_delta_threshold: 1.0

6
src/curobo/content/configs/task/finetune_trajopt_slow.yml
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@@ -54,10 +54,8 @@ cost:
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,]
weight: [10000.0, 100000.0, 500.0, 500.0]
smooth_weight: [0.0,10000.0, 50.0, 0.0]
run_weight_velocity: 0.0
run_weight_acceleration: 1.0
run_weight_jerk: 1.0

12
src/curobo/content/configs/task/gradient_ik.yml
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@@ -28,24 +28,24 @@ model:
cost:
pose_cfg:
vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
weight: [200,4000,10,20]
#weight: [5000,500000,5,20]
weight: [2000,10000,20,40]
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: [200,4000,10,20]
weight: [2000,10000,20,40]
vec_convergence: [0.00, 0.000]
terminal: False
use_metric: True
run_weight: 1.0
cspace_cfg:
weight: 0.000
bound_cfg:
weight: 100.0
weight: 500.0
activation_distance: [0.1]
null_space_weight: [1.0]
primitive_collision_cfg:
@@ -62,7 +62,7 @@ lbfgs:
n_iters: 100 #60
inner_iters: 25
cold_start_n_iters: null
min_iters: 25
min_iters: null
line_search_scale: [0.1, 0.3, 0.7, 1.0]
fixed_iters: True
cost_convergence: 0.001

13
src/curobo/content/configs/task/gradient_trajopt.yml
View File

@@ -33,7 +33,6 @@ cost:
vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0] # orientation, position for all timesteps
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
run_weight: 1.0
@@ -45,17 +44,17 @@ 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: 0.001
run_weight: 1.0
use_metric: True
cspace_cfg:
weight: 10000.0
weight: 1000.0
terminal: True
run_weight: 0.00 #1
run_weight: 0.0
bound_cfg:
weight: [5000.0, 50000.0, 50000.0,50000.0] # needs to be 3 values
smooth_weight: [0.0,10000.0,10.0, 0.0] # [vel, acc, jerk, alpha_v-not-used]
weight: [50000.0, 50000.0, 50000.0,50000.0]
smooth_weight: [0.0,10000.0,5.0, 0.0]
run_weight_velocity: 0.00
run_weight_acceleration: 1.0
run_weight_jerk: 1.0
@@ -84,7 +83,7 @@ lbfgs:
inner_iters: 25
cold_start_n_iters: null
min_iters: 25
line_search_scale: [0.01,0.3,0.7,1.0]
line_search_scale: [0.1,0.3,0.7,1.0]
fixed_iters: True
cost_convergence: 0.01
cost_delta_threshold: 2000.0

2
src/curobo/content/configs/task/particle_mpc.yml
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@@ -38,7 +38,7 @@ cost:
use_metric: True
cspace_cfg:
weight: 500.0
weight: 1000.0
terminal: True
run_weight: 1.0

2
src/curobo/content/configs/task/particle_trajopt.yml
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@@ -34,7 +34,7 @@ cost:
weight: [250.0, 5000.0, 20, 20]
vec_convergence: [0.0,0.0,1000.0,1000.0]
terminal: True
run_weight: 1.0
run_weight: 0.0
use_metric: True
link_pose_cfg: