108 lines
3.0 KiB
YAML
108 lines
3.0 KiB
YAML
|
|
##
|
|
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
|
##
|
|
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
|
## property and proprietary rights in and to this material, related
|
|
## documentation and any modifications thereto. Any use, reproduction,
|
|
## disclosure or distribution of this material and related documentation
|
|
## without an express license agreement from NVIDIA CORPORATION or
|
|
## its affiliates is strictly prohibited.
|
|
##
|
|
|
|
model:
|
|
horizon: 32
|
|
state_filter_cfg:
|
|
filter_coeff:
|
|
position: 1.0
|
|
velocity: 1.0
|
|
acceleration: 1.0
|
|
enable: False
|
|
dt_traj_params:
|
|
base_dt: 0.15
|
|
base_ratio: 1.0
|
|
max_dt: 0.15
|
|
vel_scale: 1.0
|
|
control_space: 'POSITION'
|
|
state_finite_difference_mode: "CENTRAL"
|
|
teleport_mode: False
|
|
return_full_act_buffer: True
|
|
|
|
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: [2000,50000.0,30,50] #[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
|
|
use_metric: True
|
|
|
|
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: [2000,50000.0,30,50] #[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
|
|
use_metric: True
|
|
|
|
cspace_cfg:
|
|
weight: 20000.0
|
|
terminal: True
|
|
run_weight: 0.0
|
|
|
|
bound_cfg:
|
|
weight: [50000.0, 50000.0, 5000.0,5.0]
|
|
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
|
|
activation_distance: [0.05,0.05,0.05,0.05] # for position, velocity, acceleration and jerk
|
|
null_space_weight: [0.0]
|
|
|
|
primitive_collision_cfg:
|
|
weight: 100000
|
|
use_sweep: True
|
|
sweep_steps: 4
|
|
classify: False
|
|
use_sweep_kernel: True
|
|
use_speed_metric: True
|
|
speed_dt: 0.01 # used only for speed metric
|
|
activation_distance: 0.025
|
|
|
|
|
|
self_collision_cfg:
|
|
weight: 5000.0
|
|
classify: False
|
|
|
|
|
|
|
|
lbfgs:
|
|
n_iters: 100 #175
|
|
inner_iters: 25
|
|
cold_start_n_iters: null
|
|
min_iters: 25
|
|
line_search_scale: [0.1,0.3,0.7,1.0]
|
|
fixed_iters: True
|
|
cost_convergence: 0.01
|
|
cost_delta_threshold: 2000.0
|
|
cost_relative_threshold: 0.9999
|
|
epsilon: 0.01
|
|
history: 15
|
|
use_cuda_graph: True
|
|
n_problems: 1
|
|
store_debug: False
|
|
use_cuda_kernel: True
|
|
stable_mode: True
|
|
line_search_type: "approx_wolfe"
|
|
use_cuda_line_search_kernel: True
|
|
use_cuda_update_best_kernel: True
|
|
use_temporal_smooth: False
|
|
sync_cuda_time: True
|
|
step_scale: 1.0
|
|
last_best: 10
|
|
use_coo_sparse: True
|
|
debug_info:
|
|
visual_traj : null #'ee_pos_seq'
|