How to set weights between target position and target rotation in mpc?

[Spphire]

I found that rotation is not that accurate as position, I want to add more weight of target rotation in cost

[balakumar-s]

Is this for IK, MPC or motion_gen?

[Spphire]

MPC

[balakumar-s]

Increasing the first value of this list will increase the weight for orientation:

curobo/src/curobo/content/configs/task/particle_mpc.yml

Line 34 in 1458f79

weight: [60,300.0,20,20] #[150.0, 2000.0, 30, 40]