108 lines
2.9 KiB
YAML
108 lines
2.9 KiB
YAML
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##
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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: 0.15
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base_ratio: 1.0
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max_dt: 0.15
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vel_scale: 1.0
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control_space: 'POSITION'
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state_finite_difference_mode: "CENTRAL"
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teleport_mode: False
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return_full_act_buffer: True
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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] # orientation, position for all timesteps
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run_vec_weight: [0.00,0.00,0.00,0.0,0.0,0.0] # running weight orientation, position
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weight: [2000,500000.0,30,60]
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vec_convergence: [0.0,0.0] # orientation, position, orientation metric activation, position metric activation
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terminal: True
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run_weight: 1.0
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use_metric: True
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link_pose_cfg:
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vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0] # orientation, position for all timesteps
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run_vec_weight: [0.00,0.00,0.00,0.0,0.0,0.0] # running weight orientation, position
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weight: [2000,500000.0,30,60] #[150.0, 2000.0, 30, 40]
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vec_convergence: [0.0,0.0] # orientation, position, orientation metric activation, position metric activation
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terminal: True
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run_weight: 1.0
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use_metric: True
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cspace_cfg:
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weight: 10000.0
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terminal: True
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run_weight: 0.00 #1
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bound_cfg:
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weight: [10000.0, 500000.0, 500.0, 500.0]
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smooth_weight: [0.0,10000.0, 5.0, 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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activation_distance: [0.05,0.05,0.05,0.05] # for position, velocity, acceleration and jerk
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null_space_weight: [0.0]
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primitive_collision_cfg:
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weight: 1000000
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use_sweep: True
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sweep_steps: 4
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classify: False
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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: 5000.0
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classify: False
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lbfgs:
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n_iters: 400
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inner_iters: 25
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cold_start_n_iters: null
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min_iters: 25
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line_search_scale: [0.1, 0.3, 0.7,1.0] # #
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fixed_iters: True
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cost_convergence: 0.001
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cost_delta_threshold: 0.0001
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cost_relative_threshold: 0.99
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epsilon: 0.01
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history: 27
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use_cuda_graph: True
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n_problems: 1
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store_debug: False
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use_cuda_kernel: True
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stable_mode: True
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line_search_type: "approx_wolfe"
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use_cuda_line_search_kernel: True
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use_cuda_update_best_kernel: True
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use_temporal_smooth: False
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sync_cuda_time: True
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step_scale: 1.0
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last_best: 10
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use_coo_sparse: True
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debug_info:
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visual_traj : null #'ee_pos_seq'
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