126 lines
7.0 KiB
Markdown
126 lines
7.0 KiB
Markdown
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# Changelog
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## Version 0.6.3
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### Changes in default behavior
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- Increased default collision cache to 50 in RobotWorld.
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- Changed `CSpaceConfig.position_limit_clip` default to 0 as previous default of 0.01 can make
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default start state in examples be out of bounds.
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- MotionGen uses parallel_finetune by default. To get previous motion gen behavior, pass
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`warmup(parallel_finetune=False)` and `MotionGenPlanConfig(parallel_finetune=False)`.
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- MotionGen loads Mesh Collision checker instead of Primitive by default.
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### Breaking Changes
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- Renamed `copy_if_not_none` to `clone_if_not_none` to be more descriptive. Now `copy_if_not_none`
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will try to copy data into reference.
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- Renamed `n_envs` in curobo.opt module to avoid confusion between parallel environments and
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parallel problems in optimization.
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- Added more inputs to pose distance kernels. Check `curobolib/geom.py`.
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- Pose cost `run_vec_weight` should now be `[0,0,0,0,0,0]` instead of `[1,1,1,1,1,1]`
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### New Features
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- Add function to disable and enable collision for specific links in KinematicsTensorConfig.
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- Add goal index to reacher results to return index of goal reached when goalset planning.
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- Add locked joint state update api in MotionGen class.
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- Add goalset warmup padding to handle varied number of goals during goalset planning and also when
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calling plan_single after warmup of goalset.
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- Add new trajopt config to allow for smooth solutions at slow speeds (`velocity_scale<=0.25`). Also
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add error when `velocity_scale<0.1`.
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- Add experimental robot image segmentation module to enable robot removal in depth images.
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- Add constrained planning mode to motion_gen.
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### BugFixes & Misc.
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- refactored wp.index() instances to `[]` to avoid errors in future releases of warp.
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- Fix bug in gaussian transformation to ensure values are not -1 or +1.
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- Fix bug in ik_solver loading ee_link_name from argument.
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- Fix bug in batch_goalset planning, where pose cost was selected as GOALSET instead of
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BATCH_GOALSET.
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- Added package data to also export `.so` files.
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- Fixed bug in transforming link visual mesh offset when reading from urdf.
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- Fixed bug in MotionGenPlanConfig.clone() that didn't clone the state of parallel_finetune.
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- Increased weighting from 1.0 to 5.0 for optimized_dt in TrajEvaluator to select shorter
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trajectories.
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- Improved determinism by setting global seed for random in `graph_nx.py`.
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- Added option to clear obstacles in WorldPrimitiveCollision.
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- Raise error when reference of tensors change in MotionGen, IKSolver, and TrajOpt when cuda graph
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is enabled.
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- plan_single will get converted to plan_goalset when a plan_goalset was used to initialize cuda
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graph.
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- plan_goalset will pad for extra goals when called with less number of goal than initial creation.
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- Improved API documentation for Optimizer class.
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- Improved benchmark timings, now within 15ms of results reported in technical report. Added
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numbers to benchmark [webpage](https://curobo.org/source/getting_started/4_benchmarks.html) for
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easy reference.
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- Set `use_cuda_graph` to `True` as default from `None` in `MotionGenConfig.load_from_robot_config`
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### Known Bugs (WIP)
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- Examples don't run in Isaac Sim 2023.1.1 due to behavior change in urdf importer.
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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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