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Isaac Sim 4.0 support, Kinematics API doc, Windows support

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Balakumar Sundaralingam
2024-07-20 14:51:43 -07:00
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CHANGELOG.md
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# Changelog
## Latest Commit
## Version 0.7.4
### Changes in Default Behavior
- Cuda graph capture of optimization iterations resets solver before recording.
- ``join_path(a, b)`` now requires ``a`` to not have a trailing slash to make the file compatible with Windows.
- Drop examples support for Isaac Sim < 4.0.0.
- asset_root_path can be either empty string or None.
- Order of variables in ``SelfCollisionKinematicsConfig`` has changed. Unused variables
moved to bottom.
- Remove requirement of warmup for using ``offset_waypoint`` in ``PoseCost``.
### New Features
- Interpolated metrics calculation now recreates cuda graph if interpolation steps exceed existing buffer size.
- Add experimental ``CUDAGraph.reset`` usage as ``cuda>=12.0`` is not crashing when an existing captured CUDAGraph is freed and recaptured with new memory pointers. Try this experimental feature by
setting an environment variable ``export CUROBO_TORCH_CUDA_GRAPH_RESET=1``. This feature will allow for changing the problem type in ``motion_gen`` and ``ik_solver`` without requiring recreation of the class.
- Add partial support for Windows.
- Add Isaac Sim 4.0.0 docker support.
- Examples now work with Isaac Sim 4.0.0.
- Add XRDF support.
- Add curobo.types.file_path.ContentPath to store paths for files representing robot and world. This
improves development on top of cuRobo with custom robots living external of cuRobo library.
- Add attach external objects to robot link API to CudaRobotModel.
- Add MotionGenStatus.DT_EXCEPTION to report failures due to trajectory exceeding user specified
maximum trajectory dt.
- Add reading of end-effector mesh if available when rendering trajectory with ``UsdHelper``, also
supports goalset rendering.
- Kinematics module (`curobo.cuda_robot_model`) has complete API documentation.
### BugFixes & Misc.
- Add support for older warp versions (<1.0.0) as it's not possible to run older isaac sim with
newer warp versions.
- Minor documentation fixes to install instructions.
- Add support for older warp versions (<1.0.0) as it's not possible to run older isaac sim with newer warp versions.
- Add override option to mpc dataclass.
- Fix bug in ``PoseCost.forward_pose()`` which caused ``torch_layers_example.py`` to fail.
- Add warp constants to make module hash depend on robot dof, for modules that generate runtime
warp kernels. This fixes issues using cuRobo in isaac sim.
- Add ``plan_config.timeout`` check to ``plan_single_js()``.
- Recreation of interpolation buffer now copies the joint names from raw trajectory.
- Fix bug in running captured cuda graph on deleted memory pointers
when getting metrics on interpolated trajectory
- Change order of operations in cuda graph capture of particle opt to get correct results
during graph capture phase.
- Franka Panda now works in Isaac Sim 4.0.0. The fix was to add inertial parameters to all links in
the urdf.
- Create new instances of rollouts in wrap classes to ensure cuda graph rollouts are not
accidentally used in other pipelines.
- Add cuda graph check for ``get_metrics``.
- Remove aligned address assumption for float arrays inside kernel (local memory).
- Add check for existing warp kernel in a module before creating a new one to avoid corruption of
existing cuda graphs.
## Version 0.7.3