# 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. - 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. - 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` 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]` - ``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. - 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. - 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()``. - Add partial support for isaac sim 2023.1.1. Most examples run for UR robots. `Franka Panda` is unstable. ### 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 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. - 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. - 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. - Remove torch.jit.script wrapper for lbfgs as it causes TorchScript error if history is different between trajopt and finetune_trajopt. ### Known Bugs (WIP) - `Franka Panda` robot loading from urdf in isaac sim 2023.1.1 is unstable. ## Version 0.6.2 ### New Features - Added support for actuated axis to be negative (i.e., urdf joints with `` are now natively supported). - Improved gradient calculation to account for terminal state. Trajectory optimization can reach within 1mm of accuracy (median across 2600 problems at 0.017mm). - Improved estimation of previous positions based on start velocity and acceleration. This enables Trajectory optimization to optimize from non-zero start velocity and accelerations. - Added graph planner and finetuning step to joint space planning (motion_gen.plan_single_js). This improves success and motion quality when planning to reach joint space targets. - Added finetuning across many seeds in motion_gen, improving success rate and motion quality. - Add urdf support to usd helper to export optimization steps as animated usd files for debugging motion generation. Check `examples/usd_examples.py` for an example. - Retuned weights for IK and Trajectory optimization. This (+ other fixes) significantly improves pose reaching accuracy, IK accuracy improves by 100x (98th percentile < 10 micrometers) and motion generation median at 0.017mm (with). IK now solves most problems with 24 seeds (vs 30 seeds prev.). 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 - Cleanup docker scripts. Use `build_docker.sh` instead of `build_dev_docker.sh`. Added isaac sim development docker. - Fixed bug in backward kinematics kernel, helped improve IK and TO pose reaching accuracy.. - Changed `panda_finger_joint2` from `` to `` in `franka_panda.urdf` to match real robot urdf as cuRobo now supports negative axis. - Changed benchmarking scripts to use lock joint state of [0.025,0.025] for mpinets dataset. - Added scaling of mesh to Mesh.get_trimesh_mesh() to help in debugging mesh world. - Improved stability and accuracy of MPPI for MPC. - Added NaN checking in STOMP covariance computation to account for cases when cholesky decomp fails. - Added ground truth collision check validation in `benchmarks/curobo_nvblox_benchmark.py`. ### 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 `MotionGenConfig.load_from_robot_config()`. ## Version 0.6.1 - Added changes to `examples/isaac_sim` to support Isaac Sim 2023.1.0 - Added dockerfiles and notes to run cuRobo from a docker - Minor cleanup of examples - Added option to generate log with UsdHelper from URDF file (check `examples/usd_example.py`) - Fix typos in robot sphere generation tutorial (thanks @cedricgoubard) ## Version 0.6.0 - First version of CuRobo.