hofee/gen_data_curobo
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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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13
src/curobo/content/configs/task/gradient_trajopt.yml
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@@ -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