constrained planning, robot segmentation

CHANGELOG.md

@@ -9,12 +9,62 @@ without an express license agreement from NVIDIA CORPORATION or
 its affiliates is strictly prohibited.
 -->
 # Changelog
-## Latest Commit
-### BugFixes
-- refactored wp.index() instances to `[]` to avoid errors in using with warp-lang>=0.11.
-- Fixed bug in gaussian transformation to ensure values are not -1 or +1.
+
+## Version 0.6.3
+### 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 
+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.
+
+### Breaking Changes
+- Renamed `copy_if_not_none` to `clone_if_not_none` to be more descriptive. Now `copy_if_not_none`
+will try to copy data into reference.
+- Renamed `n_envs` in curobo.opt module to avoid confusion between parallel environments and 
+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]`
+
+### New Features
+- Add function to disable and enable collision for specific links in KinematicsTensorConfig. 
+- Add goal index to reacher results to return index of goal reached when goalset planning.
+- Add locked joint state update api in MotionGen class.
+- Add goalset warmup padding to handle varied number of goals during goalset planning and also when
+calling plan_single after warmup of goalset. 
+- Add new trajopt config to allow for smooth solutions at slow speeds (`velocity_scale<=0.25`). Also
+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.
+
+### BugFixes & Misc.
+- refactored wp.index() instances to `[]` to avoid errors in future releases of warp.
+- Fix bug in gaussian transformation to ensure values are not -1 or +1.
+- Fix bug in ik_solver loading ee_link_name from argument.
+- Fix bug in batch_goalset planning, where pose cost was selected as GOALSET instead of 
+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 
+trajectories.
+- Improved determinism by setting global seed for random in `graph_nx.py`.
+- Added option to clear obstacles in WorldPrimitiveCollision.
+- Raise error when reference of tensors change in MotionGen, IKSolver, and TrajOpt when cuda graph
+is enabled.
+- plan_single will get converted to plan_goalset when a plan_goalset was used to initialize cuda 
+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`
+
+### Known Bugs (WIP)
+- Examples don't run in Isaac Sim 2023.1.1 due to behavior change in urdf importer.
+
 ## Version 0.6.2
 ### New Features
 - Added support for actuated axis to be negative (i.e., urdf joints with `<axis xyz="0 -1 0"/>` are
@@ -35,6 +85,7 @@ Run `benchmark/ik_benchmark.py` to get the latest results.
 - Added `external_asset_path` to robot configuration to help in loading urdf and meshes from an 
 external directory.
 
+
 ### BugFixes & Misc.
 - Update nvblox wrappers to work with v0.0.5 without segfaults. Significantly improves stability.
 - Remove mimic joints in franka panda to maintain compatibility with Isaac Sim 2023.1.0 and 2022.2.1
@@ -60,6 +111,7 @@ planning time, 20ms slower on 4090 and 40ms on ORIN MAXN. We will address this s
 release. One way to avoid this regression is to set `finetune_dt_scale=1.05` in 
 `MotionGenConfig.load_from_robot_config()`.
 
+
 ## Version 0.6.1
 
 - Added changes to `examples/isaac_sim` to support Isaac Sim 2023.1.0