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kinematics refactor with mimic joint support

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This commit is contained in:
Balakumar Sundaralingam
2024-04-03 18:42:01 -07:00
parent b481ee201a
commit 774dcfd609
60 changed files with 2177 additions and 810 deletions
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CHANGELOG.md
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@@ -10,6 +10,23 @@ its affiliates is strictly prohibited.
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# Changelog
## Latest Commit
### New Features
- Add mimic joint parsing and optimization support. Check `ur5e_robotiq_2f_140.yml`.
### BugFixes & Misc.
- Fix bug in `WorldVoxelCollision` where `env_query_idx` was being overwritten.
- Fix bug in `WorldVoxelCollision` where parent collision types were not getting called in some cases.
- Change voxelization dimensions to include 1 extra voxel per dim.
- Added `seed` parameter to `IKSolverConfig`.
- Added `sampler_seed` parameter `RolloutConfig`.
- Fixed bug in `links_goal_pose` where tensor could be non contiguous.
- Improved `ik_solver` success by removing gaussian projection of seed samples.
- Added flag to sample from ik seeder instead of `rollout_fn` sampler.
- Added ik startup profiler to `benchmark/curobo_python_profile.py`.
- Reduced branching in Kinematics kernels and added mimic joint computations.
## Version 0.7.0
### Changes in default behavior
- Increased default collision cache to 50 in RobotWorld.