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gen_data_curobo/CHANGELOG.md

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Changelog

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 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().

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.

Known Bugs (WIP)

  • Examples don't run in Isaac Sim 2023.1.1 due to behavior change in urdf importer.

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.