105 lines
2.6 KiB
YAML
105 lines
2.6 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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model:
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horizon: 32
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state_filter_cfg:
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filter_coeff:
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position: 1.0
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velocity: 1.0
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acceleration: 1.0
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enable: False
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dt_traj_params:
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base_dt: 0.2
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base_ratio: 1.0
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max_dt: 0.2
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vel_scale: 1.0
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control_space: 'POSITION'
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teleport_mode: False
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return_full_act_buffer: True
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state_finite_difference_mode: "CENTRAL"
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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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run_vec_weight: [1.0,1.0,1.0,1.0,1.0,1.0] # running weight
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weight: [250.0, 5000.0, 40, 40]
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vec_convergence: [0.0,0.0,1000.0,1000.0]
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terminal: True
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run_weight: 0.00
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use_metric: True
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cspace_cfg:
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weight: 500.0
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terminal: True
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run_weight: 0.001
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bound_cfg:
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weight: [0.1, 0.1,0.0,0.0]
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activation_distance: [0.0,0.0,0.0,0.0] #-#0.01
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smooth_weight: [0.0,100.0,1.0,0.0]
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run_weight_velocity: 0.0
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run_weight_acceleration: 1.0
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run_weight_jerk: 1.0
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primitive_collision_cfg:
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weight: 5000.0
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use_sweep: True
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classify: False
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sweep_steps: 4
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use_sweep_kernel: True
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use_speed_metric: True
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speed_dt: 0.01 # used only for speed metric
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activation_distance: 0.025
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self_collision_cfg:
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weight: 500.0
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classify: False
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mppi:
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init_cov : 0.1 #0.5
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gamma : 1.0
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n_iters : 2
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cold_start_n_iters: 2
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step_size_mean : 0.9
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step_size_cov : 0.01
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beta : 0.01
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alpha : 1
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num_particles : 25 # 100
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update_cov : True
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cov_type : "DIAG_A" #
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kappa : 0.001
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null_act_frac : 0.0
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sample_mode : 'BEST'
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base_action : 'REPEAT'
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squash_fn : 'CLAMP'
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n_envs : 1
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use_cuda_graph : True
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seed : 0
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store_debug : False
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random_mean : True
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sample_per_env : True
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sync_cuda_time : False
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use_coo_sparse : True
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sample_params:
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fixed_samples: True
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sample_ratio: {'halton':0.0, 'halton-knot':0.0, 'random':0.0, 'random-knot':0.0, "stomp": 1.0}
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seed: 25
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filter_coeffs: [0.3, 0.3, 0.4]
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n_knots: 5
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debug_info:
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visual_traj : null #'ee_pos_seq'
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