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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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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