Changelog

Latest Commit

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.
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.

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.

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.

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().

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)