Features Roadmap

[balakumar-s]

We will track upcoming features in this post.
If you would like to help with any of the posted features, do leave a comment.

[balakumar-s]

Add support for checkpointing tsdf state: #664

[balakumar-s]

This has been completed. Check: https://nvlabs.github.io/curobo/latest/getting-started/volumetric_mapping.html#step-2-run-the-tutorial

[balakumar-s]

Add support for end-effector velocity limits: #671

[balakumar-s]

LIDAR sensor integration into Mapper for TSDF, ESDF, Mesh generation

[balakumar-s]

I have a working version for 3D/2D Lidar. I am doing some performance optimization and will push an initial version early next week.

[balakumar-s]

This has been merged. Check https://nvlabs.github.io/curobo/latest/reference/lidar_volumetric_mapping.html

[balakumar-s]

Add a trajectory planner that supports tracking N waypoints (collision unaware) (#680). E.g., support constrained orientation while reaching N waypoints, linear motions across arbitrary axes. This can also speedup plan_grasp.

[balakumar-s]

Add example for collision-free motion planning with a live camera (#662).

[balakumar-s]

Added example here: https://nvlabs.github.io/curobo/latest/reference/live_volumetric_mapping_mpc.html

[balakumar-s]

Improve color texturing for reconstruction from TSDF mapper. Current implementation of color is block level.

[balakumar-s]

Merged finer resolution color and features per block: #694