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Resolve time optimization issues #217

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Resolve time optimization issues #217

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scharalambous-sony
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@scharalambous-sony scharalambous-sony commented Apr 11, 2024 •
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  • Decouples interpolation dt from the minimum dt in retiming operation which are independent
  • Resolves issue where trajectory evaluation will fail after retiming operation
  • Resolves issues where the solver dt will not be restored to its original value
  • Resolves minor bug where the multiplication with finetune_dt_scale was missing

Possibly resolves issues mentioned in #210

scharalambous-sony
scharalambous-sony commented Apr 16, 2024
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src/curobo/wrap/reacher/motion_gen.py
@@ -1946,8 +1954,8 @@ def _plan_js_from_solve_state(
og_solve_time = traj_result.solve_time

scaled_dt = torch.clamp(
torch.max(traj_result.optimized_dt[traj_result.success]),
self.trajopt_solver.interpolation_dt,
torch.max(traj_result.optimized_dt[traj_result.success]) * self.finetune_dt_scale,
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This is I think a minor fix as finetune_dt_scale must have been applied

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Currently, we only use finetune_dt_scale only for pose planning. Joint space planning was implemented to facilitate going to a home configuration after doing manipulation tasks.

The finetune attempts could be implemented in plan_single_js as well. Thanks for bring this up.

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Should I remove this from the PR?

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@balakumar-s balakumar-s Apr 17, 2024 •
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I have forked your changes, I have a few more changes to make to get this working correctly. I will push these changes and other adjustments before the end of this week.
This way, we don't duplicate efforts.

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One of the issues has been already fixed in the latest release so I removed the corresponding changes from my PR

curobo/CHANGELOG.md

Lines 49 to 50 in d6e600c

- Fix dt update in `MotionGen.plan_single_js()` where dt was not reset after finetunestep, causing
joint space planner to fail often.

@scharalambous-sony scharalambous-sony mentioned this pull request Apr 16, 2024
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This has been added to v0.7.2

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@scharalambous-sony @balakumar-s