91 lines
2.1 KiB
YAML
91 lines
2.1 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: 1
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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: 0.0
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enable: False
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dt_traj_params:
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base_dt: 0.02
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base_ratio: 1.0
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max_dt: 0.25
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vel_scale: 1.0
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control_space: 'POSITION'
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teleport_mode: 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]
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weight: [200,4000,10,20]
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#weight: [5000,500000,5,20]
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vec_convergence: [0.0, 0.00]
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terminal: False
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use_metric: True
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run_weight: 1.0
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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]
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weight: [200,4000,10,20]
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vec_convergence: [0.00, 0.000]
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terminal: False
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use_metric: True
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cspace_cfg:
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weight: 0.000
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bound_cfg:
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weight: 100.0
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activation_distance: [0.1]
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null_space_weight: [1.0]
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primitive_collision_cfg:
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weight: 5000.0
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use_sweep: False
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classify: False
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activation_distance: 0.01
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self_collision_cfg:
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weight: 500.0
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classify: False
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lbfgs:
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n_iters: 100 #60
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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: 1.0 #0.0001
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cost_relative_threshold: 0.999
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epsilon: 0.01 #0.01 # used only in stable_mode
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history: 6
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horizon: 1
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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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use_shared_buffers_kernel: True
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stable_mode: True
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line_search_type: "approx_wolfe" #"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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sync_cuda_time: True
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step_scale: 1.0
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use_coo_sparse: True
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last_best: 10
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debug_info:
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visual_traj : null #'ee_pos_seq'
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