Add re-timing, minimum dt robustness
This commit is contained in:
Balakumar Sundaralingam
149
CHANGELOG.md
149
CHANGELOG.md
@@ -10,27 +10,66 @@ its affiliates is strictly prohibited.
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-->
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# Changelog
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## Version 0.7.2
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### New Features
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- Significant improvements for generating slow trajectories. Added re-timing post processing to
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slow down optimized trajectories. Use `MotionGenPlanConfig.time_dilation_factor<1.0` to slow down a
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planned trajectory. This is more robust than setting `velocity_scale<1.0` and also allows for
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changing the speed of trajectories between planning calls
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- `curobo.util.logger` adds `logger_name` as an input, enabling use of logging api with other
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packages.
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### Changes in default behavior
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- Move `CudaRobotModelState` from `curobo.cuda_robot_model.types` to
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`curobo.cuda_robot_model.cuda_robot_model`
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- Activation distance for bound cost in now a ratio instead of absolute value to account for very
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small range of joint limits when `velocity_scale<0.1`.
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- `TrajResult` is renamed to `TrajOptResult` to be consistent with other solvers.
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- Order of inputs to `get_batch_interpolated_trajectory` has changed.
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- `MpcSolverConfig.load_from_robot_config` uses `world_model` instead of `world_cfg` to be
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consistent with other wrappers.
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### BugFixes & Misc.
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- Fix bug in `MotionGen.plan_batch_env` where graph planner was being set to True. This also fixes
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isaac sim example `batch_motion_gen_reacher.py`.
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- Add `min_dt` as a parameter to `MotionGenConfig` and `TrajOptSolverConfig` to improve readability
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and allow for having smaller `interpolation_dt`.
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- Add `epsilon` to `min_dt` to make sure after time scaling, joint temporal values are not exactly
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at their limits.
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- Remove 0.02 offset for `max_joint_vel` and `max_joint_acc` in `TrajOptSolver`
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- Bound cost now scales the cost by `1/limit_range**2` when `limit_range<1.0` to be robust to small
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joint limits.
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- Added documentation for `curobo.util.logger`, `curobo.wrap.reacher.motion_gen`,
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`curobo.wrap.reacher.mpc`, and `curobo.wrap.reacher.trajopt`.
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- When interpolation buffer is smaller than required, a new buffer is created with a warning
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instead of raising an exception.
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- `torch.cuda.synchronize()` now only synchronizes specified cuda device with
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`torch.cuda.synchronize(device=self.tensor_args.device)`
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- Added python example for MPC.
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## Version 0.7.1
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### New Features
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- Add mimic joint parsing and optimization support. Check `ur5e_robotiq_2f_140.yml`.
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- Add `finetune_dt_scale` as a parameter to `MotionGenPlanConfig` to dynamically change the
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- Add `finetune_dt_scale` as a parameter to `MotionGenPlanConfig` to dynamically change the
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time-optimal scaling on a per problem instance.
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- `MotionGen.plan_single()` will now try finetuning in a for-loop, with larger and larger dt
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- `MotionGen.plan_single()` will now try finetuning in a for-loop, with larger and larger dt
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until convergence. This also warm starts from previous failure.
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- Add `high_precision` mode to `MotionGenConfig` to support `<1mm` convergence.
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### Changes in default behavior
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- collision_sphere_buffer now supports having offset per link. Also, collision_sphere_buffer only
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applies to world collision while self_collision_buffer applies for self collision. Previously,
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- collision_sphere_buffer now supports having offset per link. Also, collision_sphere_buffer only
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applies to world collision while self_collision_buffer applies for self collision. Previously,
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self_collision_buffer was added on top of collision_sphere_buffer.
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- `TrajEvaluatorConfig` cannot be initialized without dof as now per-joint jerk and acceleration
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- `TrajEvaluatorConfig` cannot be initialized without dof as now per-joint jerk and acceleration
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limits are used. Use `TrajEvaluatorConfig.from_basic()` to initialize similar to previous behavior.
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- `finetune_dt_scale` default value is 0.9 from 0.95.
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### BugFixes & Misc.
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- Fix bug in `WorldVoxelCollision` where `env_query_idx` was being overwritten.
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- Fix bug in `WorldVoxelCollision` where parent collision types were not getting called in some cases.
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- Fix bug in `WorldVoxelCollision` where parent collision types were not getting called in some
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cases.
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- Change voxelization dimensions to include 1 extra voxel per dim.
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- Added `seed` parameter to `IKSolverConfig`.
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- Added `sampler_seed` parameter `RolloutConfig`.
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@@ -41,16 +80,16 @@ limits are used. Use `TrajEvaluatorConfig.from_basic()` to initialize similar to
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- Reduced branching in Kinematics kernels and added mimic joint computations.
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- Add init_cache to WorldVoxelCollision to create cache for Mesh and Cuboid obstacles.
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- `TrajEvaluator` now uses per-joint acceleration and jerk limits.
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- Fixed regression in `batch_motion_gen_reacher.py` example where robot's position was not being
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- Fixed regression in `batch_motion_gen_reacher.py` example where robot's position was not being
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set correctly.
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- Switched from smooth l2 to l2 for BoundCost as that gives better convergence.
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- `requires_grad` is explicitly stored in a varaible before `tensor.detach()` in warp kernel calls
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as this can get set to False in some instances.
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- Fix dt update in `MotionGen.plan_single_js()` where dt was not reset after finetunestep, causing
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joint space planner to fail often.
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- Improve joint space planner success by changing smooth l2 distance cost to l2 distance. Also,
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- Improve joint space planner success by changing smooth l2 distance cost to l2 distance. Also,
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added fallback to graph planner when linear path is not possible.
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- Retuned weigths for IKSolver, now 98th percentile accuracy is 10 micrometers wtih 16 seeds
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- Retuned weigths for IKSolver, now 98th percentile accuracy is 10 micrometers wtih 16 seeds
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(vs 24 seeds previously).
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- Switch float8 precision check from `const` to macro to avoid compile errors in older nvcc, this
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fixes docker build issues for isaac sim 2023.1.0.
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@@ -58,76 +97,77 @@ fixes docker build issues for isaac sim 2023.1.0.
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## Version 0.7.0
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### Changes in default behavior
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- Increased default collision cache to 50 in RobotWorld.
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- Changed `CSpaceConfig.position_limit_clip` default to 0 as previous default of 0.01 can make
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default start state in examples be out of bounds.
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- MotionGen uses parallel_finetune by default. To get previous motion gen behavior, pass
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- Changed `CSpaceConfig.position_limit_clip` default to 0 as previous default of 0.01 can make
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default start state in examples be out of bounds.
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- MotionGen uses parallel_finetune by default. To get previous motion gen behavior, pass
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`warmup(parallel_finetune=False)` and `MotionGenPlanConfig(parallel_finetune=False)`.
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- MotionGen loads Mesh Collision checker instead of Primitive by default.
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- UR10e and UR5e now don't have a collision sphere at tool frame for world collision checking. This
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- UR10e and UR5e now don't have a collision sphere at tool frame for world collision checking. This
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sphere is only active for self collision avoidance.
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- With torch>=2.0, cuRobo will use `torch.compile` instead of `torch.jit.script` to generate fused
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kernels. This can take several seconds during the first run. To enable this feature, set
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- With torch>=2.0, cuRobo will use `torch.compile` instead of `torch.jit.script` to generate fused
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kernels. This can take several seconds during the first run. To enable this feature, set
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environment variable `export CUROBO_TORCH_COMPILE_DISABLE=0`.
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### Breaking Changes
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- Renamed `copy_if_not_none` to `clone_if_not_none` to be more descriptive. Now `copy_if_not_none`
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will try to copy data into reference.
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- Renamed `n_envs` in curobo.opt module to avoid confusion between parallel environments and
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- Renamed `n_envs` in curobo.opt module to avoid confusion between parallel environments and
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parallel problems in optimization.
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- Added more inputs to pose distance kernels. Check `curobolib/geom.py`.
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- Pose cost `run_vec_weight` should now be `[0,0,0,0,0,0]` instead of `[1,1,1,1,1,1]`
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- ``max_distance`` is now tensor from ``float`` and is an input to collision kernels.
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- Order of inputs to ``SweptSdfMeshWarpPy`` has changed.
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- Order of inputs to ``SweptSdfMeshWarpPy`` has changed.
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### New Features
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- Add function to disable and enable collision for specific links in KinematicsTensorConfig.
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- Add function to disable and enable collision for specific links in KinematicsTensorConfig.
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- Add goal index to reacher results to return index of goal reached when goalset planning.
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- Add locked joint state update api in MotionGen class.
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- Add goalset warmup padding to handle varied number of goals during goalset planning and also when
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calling plan_single after warmup of goalset.
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- Add new trajopt config to allow for smooth solutions at slow speeds (`velocity_scale<=0.25`). Also
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add error when `velocity_scale<0.1`.
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calling plan_single after warmup of goalset.
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- Add new trajopt config to allow for smooth solutions at slow speeds (`velocity_scale<=0.25`).
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Also add error when `velocity_scale<0.1`.
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- Add experimental robot image segmentation module to enable robot removal in depth images.
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- Add constrained planning mode to motion_gen.
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- Use `torch.compile` to leverage better kernel fusion in place of `torch.jit.script`.
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- Significantly improved collision computation for cuboids and meshes. Mesh collision checker is
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now only 2x slower than cuboid (from 5x slower). Optimization convergence is also improved.
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- Use `torch.compile` to leverage better kernel fusion in place of `torch.jit.script`.
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- Significantly improved collision computation for cuboids and meshes. Mesh collision checker is
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now only 2x slower than cuboid (from 5x slower). Optimization convergence is also improved.
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- LBFGS kernels now support ``history <= 31`` from ``history <= 15``.
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- 2x faster LBFGS kernel that allocates upto 68kb of shared memory, preventing use in CUDA devices
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- 2x faster LBFGS kernel that allocates upto 68kb of shared memory, preventing use in CUDA devices
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with compute capability ``<7.0``.
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- On benchmarking Dataset, Planning time is now 42ms on average from 50ms. Higher quality solutions
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are also obtained. See [benchmarks](https://curobo.org/source/getting_started/4_benchmarks.html) for more details.
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- Add ``WorldCollisionVoxel``, a new collision checking implementation that uses a voxel grid
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- On benchmarking Dataset, Planning time is now 42ms on average from 50ms. Higher quality solutions
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are also obtained. See [benchmarks](https://curobo.org/source/getting_started/4_benchmarks.html)
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for more details.
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- Add ``WorldCollisionVoxel``, a new collision checking implementation that uses a voxel grid
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of signed distances (SDF) to compute collision avoidance metrics. Documentation coming soon, see
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``benchmark/curobo_voxel_benchmark.py`` for an example.
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- Add API for ESDF computation from world representations, see
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- Add API for ESDF computation from world representations, see
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``WorldCollision.get_esdf_in_bounding_box()``.
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- Add partial support for isaac sim 2023.1.1. Most examples run for UR robots. `Franka Panda` is
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- Add partial support for isaac sim 2023.1.1. Most examples run for UR robots. `Franka Panda` is
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unstable.
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### BugFixes & Misc.
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- refactored wp.index() instances to `[]` to avoid errors in future releases of warp.
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- Fix bug in gaussian transformation to ensure values are not -1 or +1.
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- Fix bug in ik_solver loading ee_link_name from argument.
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- Fix bug in batch_goalset planning, where pose cost was selected as GOALSET instead of
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- Fix bug in batch_goalset planning, where pose cost was selected as GOALSET instead of
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BATCH_GOALSET.
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- Added package data to also export `.so` files.
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- Fixed bug in transforming link visual mesh offset when reading from urdf.
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- Fixed bug in transforming link visual mesh offset when reading from urdf.
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- Fixed bug in MotionGenPlanConfig.clone() that didn't clone the state of parallel_finetune.
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- Increased weighting from 1.0 to 10.0 for optimized_dt in TrajEvaluator to select shorter
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- Increased weighting from 1.0 to 10.0 for optimized_dt in TrajEvaluator to select shorter
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trajectories.
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- Improved determinism by setting global seed for random in `graph_nx.py`.
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- Added option to clear obstacles in WorldPrimitiveCollision.
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- Raise error when reference of tensors change in MotionGen, IKSolver, and TrajOpt when cuda graph
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is enabled.
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- plan_single will get converted to plan_goalset when a plan_goalset was used to initialize cuda
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- plan_single will get converted to plan_goalset when a plan_goalset was used to initialize cuda
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graph.
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- plan_goalset will pad for extra goals when called with less number of goal than initial creation.
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- Improved API documentation for Optimizer class.
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- Set `use_cuda_graph` to `True` as default from `None` in `MotionGenConfig.load_from_robot_config`
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- Add batched mode to robot image segmentation, supports single robot multiple camera and batch
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robot batch camera.
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- Add batched mode to robot image segmentation, supports single robot multiple camera and batch
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robot batch camera.
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- Add `log_warn` import to `arm_reacher.py`
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- Remove negative radius check in self collision kernel to allow for self collision checking with
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spheres of negative radius.
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@@ -135,9 +175,9 @@ spheres of negative radius.
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- Added UR5e robot with robotiq gripper (2f-140) with improved sphere model.
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- Fix bug in aarch64.dockerfile where curobo was cloned to wrong path.
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- Fix bug in aarch64.dockerfile where python was used instead of python3.
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- Remove unused variables in kernels.
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- Remove unused variables in kernels.
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- Added ``pybind11`` as a dependency as some pytorch dockers for Jetson do not have this installed.
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- Fix incorrect dimensions in ``MotionGenResult.success`` in ``MotionGen.plan_batch()`` when
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- Fix incorrect dimensions in ``MotionGenResult.success`` in ``MotionGen.plan_batch()`` when
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trajectory optimization fails.
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- Added unit tests for collision checking functions.
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- Fix bug in linear interpolation which was not reading the new ``optimized_dt`` to interpolate
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@@ -147,52 +187,53 @@ between trajopt and finetune_trajopt.
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### Known Bugs (WIP)
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- `Franka Panda` robot loading from urdf in isaac sim 2023.1.1 is unstable.
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- `Franka Panda` robot loading from urdf in isaac sim 2023.1.1 is unstable.
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## Version 0.6.2
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### New Features
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- Added support for actuated axis to be negative (i.e., urdf joints with `<axis xyz="0 -1 0"/>` are
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now natively supported).
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- Improved gradient calculation to account for terminal state. Trajectory optimization can reach
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- Improved gradient calculation to account for terminal state. Trajectory optimization can reach
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within 1mm of accuracy (median across 2600 problems at 0.017mm).
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- Improved estimation of previous positions based on start velocity and acceleration. This enables
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- Improved estimation of previous positions based on start velocity and acceleration. This enables
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Trajectory optimization to optimize from non-zero start velocity and accelerations.
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- Added graph planner and finetuning step to joint space planning (motion_gen.plan_single_js). This
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improves success and motion quality when planning to reach joint space targets.
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- Added finetuning across many seeds in motion_gen, improving success rate and motion quality.
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- Add urdf support to usd helper to export optimization steps as animated usd files for debugging
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- Add urdf support to usd helper to export optimization steps as animated usd files for debugging
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motion generation. Check `examples/usd_examples.py` for an example.
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- Retuned weights for IK and Trajectory optimization. This (+ other fixes) significantly improves
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pose reaching accuracy, IK accuracy improves by 100x (98th percentile < 10 micrometers) and motion
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- Retuned weights for IK and Trajectory optimization. This (+ other fixes) significantly improves
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pose reaching accuracy, IK accuracy improves by 100x (98th percentile < 10 micrometers) and motion
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generation median at 0.017mm (with). IK now solves most problems with 24 seeds (vs 30 seeds prev.).
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Run `benchmark/ik_benchmark.py` to get the latest results.
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- Added `external_asset_path` to robot configuration to help in loading urdf and meshes from an
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- Added `external_asset_path` to robot configuration to help in loading urdf and meshes from an
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external directory.
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### BugFixes & Misc.
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- Update nvblox wrappers to work with v0.0.5 without segfaults. Significantly improves stability.
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- Remove mimic joints in franka panda to maintain compatibility with Isaac Sim 2023.1.0 and 2022.2.1
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- Cleanup docker scripts. Use `build_docker.sh` instead of `build_dev_docker.sh`. Added isaac sim
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- Remove mimic joints in franka panda to maintain compatibility with Isaac Sim 2023.1.0 and
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2022.2.1
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- Cleanup docker scripts. Use `build_docker.sh` instead of `build_dev_docker.sh`. Added isaac sim
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development docker.
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- Fixed bug in backward kinematics kernel, helped improve IK and TO pose reaching accuracy..
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- Fixed bug in backward kinematics kernel, helped improve IK and TO pose reaching accuracy..
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- Changed `panda_finger_joint2` from `<axis xyz="0 1 0"/>`
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to `<axis xyz="0 -1 0"/>` in `franka_panda.urdf` to match real robot urdf as cuRobo now supports
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negative axis.
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- Changed benchmarking scripts to use lock joint state of [0.025,0.025] for mpinets dataset.
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- Changed benchmarking scripts to use lock joint state of [0.025,0.025] for mpinets dataset.
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- Added scaling of mesh to Mesh.get_trimesh_mesh() to help in debugging mesh world.
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- Improved stability and accuracy of MPPI for MPC.
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- Added NaN checking in STOMP covariance computation to account for cases when cholesky decomp
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- Added NaN checking in STOMP covariance computation to account for cases when cholesky decomp
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fails.
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- Added ground truth collision check validation in `benchmarks/curobo_nvblox_benchmark.py`.
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### Performance Regressions
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- cuRobo now generates significantly shorter paths then previous version. E.g., cuRobo obtains
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2.2 seconds 98th percentile motion time on the 2600 problems (`benchmark/curobo_benchmark.py`),
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where previously it was at 3 seconds (1.36x quicker motions). This was obtained by retuning the
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weights and slight reformulations of trajectory optimization. These changes have led to a slight
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2.2 seconds 98th percentile motion time on the 2600 problems (`benchmark/curobo_benchmark.py`),
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where previously it was at 3 seconds (1.36x quicker motions). This was obtained by retuning the
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weights and slight reformulations of trajectory optimization. These changes have led to a slight
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degrade in planning time, 20ms slower on 4090 and 40ms on ORIN MAXN. We will address this slow down
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in a later release. One way to avoid this regression is to set `finetune_dt_scale=1.05` in
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in a later release. One way to avoid this regression is to set `finetune_dt_scale=1.05` in
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`MotionGenConfig.load_from_robot_config()`.
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