182 lines
10 KiB
Markdown
182 lines
10 KiB
Markdown
<!--
|
|
Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
|
|
|
NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
|
property and proprietary rights in and to this material, related
|
|
documentation and any modifications thereto. Any use, reproduction,
|
|
disclosure or distribution of this material and related documentation
|
|
without an express license agreement from NVIDIA CORPORATION or
|
|
its affiliates is strictly prohibited.
|
|
-->
|
|
# 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 `<axis xyz="0 -1 0"/>` 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 `<axis xyz="0 1 0"/>`
|
|
to `<axis xyz="0 -1 0"/>` 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.
|