update to 0.6.2

CHANGELOG.md

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 # Changelog
 
+## 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

benchmark/README.md

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 This folder contains scripts to run the motion planning benchmarks.
 
-Refer to Benchmarks & Profiling instructions in documentation for more information.
+Refer to Benchmarks & Profiling instructions: https://curobo.org/source/getting_started/4_benchmarks.html.
+
+### Note
+
+Results in the arxiv paper were obtained from v0.6.0. 
+
+v0.6.2+ has significant changes to improve motion quality with lower motion time, lower path length, higher pose accuracy (<1mm). v0.6.2+ sacrifices 30ms (RTX 4090) of compute time to achieve signficantly better solutions. The new results are yet to be added to the technical report. For now, to get the latest benchmark results follow instructions here: https://curobo.org/source/getting_started/4_benchmarks.html.
+
+To get results similar to in the technical report, pass `--report_edition` to `curobo_benchmark.py`.