Resolve time optimization issues

NVlabs / curobo

CUDA Accelerated Robot Library

https://curobo.org

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Closed scharalambous-sony closed 7 months ago

scharalambous-sony commented 7 months ago

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 commented 7 months ago

One of the issues has been already fixed in the latest release so I removed the corresponding changes from my PR https://github.com/NVlabs/curobo/blob/d6e600c88c9b4fbdad99f8ad3ed6ce514d309c25/CHANGELOG.md?plain=1#L49-L50

balakumar-s commented 7 months ago

This has been added to v0.7.2