60 lines
1.5 KiB
YAML
60 lines
1.5 KiB
YAML
##
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## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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##
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## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
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## property and proprietary rights in and to this material, related
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## documentation and any modifications thereto. Any use, reproduction,
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## disclosure or distribution of this material and related documentation
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## without an express license agreement from NVIDIA CORPORATION or
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## its affiliates is strictly prohibited.
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##
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world_collision_checker_cfg:
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cache: null #{"cube": 41, "capsule": 0, "sphere": 0}
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checker_type: "PRIMITIVE" # ["PRIMITIVE", "BLOX", "MESH"]
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max_distance: 0.1
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cost:
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pose_cfg:
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vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
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weight: [0.0, 0.0]
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vec_convergence: [0.0, 0.00] # orientation, position
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terminal: False
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bound_cfg:
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weight: 000.0
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activation_distance: [0.0,0.0,0.0,0.0]
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constraint:
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primitive_collision_cfg:
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weight: 2000.0
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use_sweep: False
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classify: True
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self_collision_cfg:
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weight: 1000.0
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classify: True
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bound_cfg:
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weight: [5000.0, 5000.0, 5000.0,5000.0]
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activation_distance: [0.0,0.0,0.0,0.0] # for position, velocity, acceleration and jerk
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convergence:
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pose_cfg:
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vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
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weight: [1.0, 1.0]
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vec_convergence: [0.0, 0.00] # orientation, position
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terminal: False
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cspace_cfg:
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weight: 1.0
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terminal: True
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run_weight: 1.0
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null_space_cfg:
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weight: 1.0
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terminal: True
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run_weight: 1.0
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