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Improved motion quality, precision, and better joint space planning.
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@balakumar-s balakumar-s released this 11 Apr 20:43
· 30 commits to main since this release
v0.7.1
d6e600c

New Features

  • Add mimic joint parsing and optimization support. Check ur5e_robotiq_2f_140.yml.
  • Add finetune_dt_scale as a parameter to MotionGenPlanConfig to dynamically change the
    time-optimal scaling on a per problem instance.
  • MotionGen.plan_single() will now try finetuning in a for-loop, with larger and larger dt
    until convergence. This also warm starts from previous failure.
  • Add high_precision mode to MotionGenConfig to support <1mm convergence.

Changes in default behavior

  • collision_sphere_buffer now supports having offset per link. Also, collision_sphere_buffer only
    applies to world collision while self_collision_buffer applies for self collision. Previously,
    self_collision_buffer was added on top of collision_sphere_buffer.
  • TrajEvaluatorConfig cannot be initialized without dof as now per-joint jerk and acceleration
    limits are used. Use TrajEvaluatorConfig.from_basic() to initialize similar to previous behavior.
  • finetune_dt_scale default value is 0.9 from 0.95.

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.
  • Add init_cache to WorldVoxelCollision to create cache for Mesh and Cuboid obstacles.
  • TrajEvaluator now uses per-joint acceleration and jerk limits.
  • Fixed regression in batch_motion_gen_reacher.py example where robot's position was not being
    set correctly.
  • Switched from smooth l2 to l2 for BoundCost as that gives better convergence.
  • requires_grad is explicitly stored in a varaible before tensor.detach() in warp kernel calls
    as this can get set to False in some instances.
  • Fix dt update in MotionGen.plan_single_js() where dt was not reset after finetunestep, causing
    joint space planner to fail often.
  • Improve joint space planner success by changing smooth l2 distance cost to l2 distance. Also,
    added fallback to graph planner when linear path is not possible.
  • Retuned weigths for IKSolver, now 98th percentile accuracy is 10 micrometers wtih 16 seeds
    (vs 24 seeds previously).
  • Switch float8 precision check from const to macro to avoid compile errors in older nvcc, this
    fixes docker build issues for isaac sim 2023.1.0.
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