71 lines
3.9 KiB
Markdown
71 lines
3.9 KiB
Markdown
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# Changelog
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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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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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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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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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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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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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development docker.
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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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- 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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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`), where
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previously it was at 3 seconds (1.36x quicker motions). This was obtained by retuning the weights and
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slight reformulations of trajectory optimization. These changes have led to a slight degrade in
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planning time, 20ms slower on 4090 and 40ms on ORIN MAXN. We will address this slow down in a later
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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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## Version 0.6.1
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- Added changes to `examples/isaac_sim` to support Isaac Sim 2023.1.0
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- Added dockerfiles and notes to run cuRobo from a docker
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- Minor cleanup of examples
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- Added option to generate log with UsdHelper from URDF file (check `examples/usd_example.py`)
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- Fix typos in robot sphere generation tutorial (thanks @cedricgoubard)
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## Version 0.6.0
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- First version of CuRobo.
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