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Significantly improved convergence for mesh and cuboid, new ESDF collision.

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This commit is contained in:
Balakumar Sundaralingam
2024-03-18 11:19:48 -07:00
parent 286b3820a5
commit b1f63e8778
100 changed files with 7587 additions and 2589 deletions
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CHANGELOG.md
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@@ -10,7 +10,7 @@ its affiliates is strictly prohibited.
-->
# Changelog
## Version 0.6.3
## Version 0.7.0
### Changes in default behavior
- Increased default collision cache to 50 in RobotWorld.
- Changed `CSpaceConfig.position_limit_clip` default to 0 as previous default of 0.01 can make
@@ -18,6 +18,11 @@ default start state in examples be out of bounds.
- MotionGen uses parallel_finetune by default. To get previous motion gen behavior, pass
`warmup(parallel_finetune=False)` and `MotionGenPlanConfig(parallel_finetune=False)`.
- MotionGen loads Mesh Collision checker instead of Primitive by default.
- UR10e and UR5e now don't have a collision sphere at tool frame for world collision checking. This
sphere is only active for self collision avoidance.
- With torch>=2.0, cuRobo will use `torch.compile` instead of `torch.jit.script` to generate fused
kernels. This can take several seconds during the first run. To enable this feature, set
environment variable `export CUROBO_TORCH_COMPILE_DISABLE=0`.
### Breaking Changes
- Renamed `copy_if_not_none` to `clone_if_not_none` to be more descriptive. Now `copy_if_not_none`
@@ -26,6 +31,9 @@ will try to copy data into reference.
parallel problems in optimization.
- Added more inputs to pose distance kernels. Check `curobolib/geom.py`.
- Pose cost `run_vec_weight` should now be `[0,0,0,0,0,0]` instead of `[1,1,1,1,1,1]`
- ``max_distance`` is now tensor from ``float`` and is an input to collision kernels.
- Order of inputs to ``SweptSdfMeshWarpPy`` has changed.
### New Features
- Add function to disable and enable collision for specific links in KinematicsTensorConfig.
@@ -37,6 +45,19 @@ calling plan_single after warmup of goalset.
add error when `velocity_scale<0.1`.
- Add experimental robot image segmentation module to enable robot removal in depth images.
- Add constrained planning mode to motion_gen.
- Use `torch.compile` to leverage better kernel fusion in place of `torch.jit.script`.
- Significantly improved collision computation for cuboids and meshes. Mesh collision checker is
now only 2x slower than cuboid (from 5x slower). Optimization convergence is also improved.
- LBFGS kernels now support ``history <= 31`` from ``history <= 15``.
- 2x faster LBFGS kernel that allocates upto 68kb of shared memory, preventing use in CUDA devices
with compute capability ``<7.0``.
- On benchmarking Dataset, Planning time is now 42ms on average from 50ms. Higher quality solutions
are also obtained. See [benchmarks](https://curobo.org/source/getting_started/4_benchmarks.html) for more details.
- Add ``WorldCollisionVoxel``, a new collision checking implementation that uses a voxel grid
of signed distances (SDF) to compute collision avoidance metrics. Documentation coming soon, see
``benchmark/curobo_voxel_benchmark.py`` for an example.
- Add API for ESDF computation from world representations, see
``WorldCollision.get_esdf_in_bounding_box()``.
### BugFixes & Misc.
- refactored wp.index() instances to `[]` to avoid errors in future releases of warp.
@@ -47,7 +68,7 @@ BATCH_GOALSET.
- Added package data to also export `.so` files.
- Fixed bug in transforming link visual mesh offset when reading from urdf.
- Fixed bug in MotionGenPlanConfig.clone() that didn't clone the state of parallel_finetune.
- Increased weighting from 1.0 to 5.0 for optimized_dt in TrajEvaluator to select shorter
- Increased weighting from 1.0 to 10.0 for optimized_dt in TrajEvaluator to select shorter
trajectories.
- Improved determinism by setting global seed for random in `graph_nx.py`.
- Added option to clear obstacles in WorldPrimitiveCollision.
@@ -57,10 +78,24 @@ is enabled.
graph.
- plan_goalset will pad for extra goals when called with less number of goal than initial creation.
- Improved API documentation for Optimizer class.
- Improved benchmark timings, now within 15ms of results reported in technical report. Added
numbers to benchmark [webpage](https://curobo.org/source/getting_started/4_benchmarks.html) for
easy reference.
- Set `use_cuda_graph` to `True` as default from `None` in `MotionGenConfig.load_from_robot_config`
- Add batched mode to robot image segmentation, supports single robot multiple camera and batch
robot batch camera.
- Add `log_warn` import to `arm_reacher.py`
- Remove negative radius check in self collision kernel to allow for self collision checking with
spheres of negative radius.
- Added `conftest.py` to disable `torch.compile` for tests.
- Added UR5e robot with robotiq gripper (2f-140) with improved sphere model.
- Fix bug in aarch64.dockerfile where curobo was cloned to wrong path.
- Fix bug in aarch64.dockerfile where python was used instead of python3.
- Remove unused variables in kernels.
- Added ``pybind11`` as a dependency as some pytorch dockers for Jetson do not have this installed.
- Fix incorrect dimensions in ``MotionGenResult.success`` in ``MotionGen.plan_batch()`` when
trajectory optimization fails.
- Added unit tests for collision checking functions.
- Fix bug in linear interpolation which was not reading the new ``optimized_dt`` to interpolate
velocity, acceleration, and jerk.
### Known Bugs (WIP)
- Examples don't run in Isaac Sim 2023.1.1 due to behavior change in urdf importer.
@@ -104,11 +139,11 @@ fails.
### Performance Regressions
- cuRobo now generates significantly shorter paths then previous version. E.g., cuRobo obtains
2.2 seconds 98th percentile motion time on the 2600 problems (`benchmark/curobo_benchmark.py`), where
previously it was at 3 seconds (1.36x quicker motions). This was obtained by retuning the weights and
slight reformulations of trajectory optimization. These changes have led to a slight degrade in
planning time, 20ms slower on 4090 and 40ms on ORIN MAXN. We will address this slow down in a later
release. One way to avoid this regression is to set `finetune_dt_scale=1.05` in
2.2 seconds 98th percentile motion time on the 2600 problems (`benchmark/curobo_benchmark.py`),
where previously it was at 3 seconds (1.36x quicker motions). This was obtained by retuning the
weights and slight reformulations of trajectory optimization. These changes have led to a slight
degrade in planning time, 20ms slower on 4090 and 40ms on ORIN MAXN. We will address this slow down
in a later release. One way to avoid this regression is to set `finetune_dt_scale=1.05` in
`MotionGenConfig.load_from_robot_config()`.