v0.9.14

Changelog

All notable changes to this project will be documented in this file.

Ft[lint]

• Improves linting on generic_mujoco_env.

Ft[mujoco]

• Adds mujoco support for movable objects.

v0.9.13

Changelog

All notable changes to this project will be documented in this file.

Ft[mujoco]

• Adds option to randomize obstacles and goals on reset.

v0.9.12

Changelog

All notable changes to this project will be documented in this file.

Bug Fixes

• Removes dependency on embreex by lower version of trimesh.
• Updates robotmodels to include kinova.
• Creates limit-aware noise addition, addresses #220.
• Makes distinction for noise adding between lidar modes, raw or distances.
• Addresses #265. Adds tests for different mujoco examples.

Ft[doc]

• Documents xml return for mujoco environment.

Ft[mujoco]

• Changes xml editing for dm_control api for changing mujoco model. Removes need for storing temp.xml files.

v0.9.9

Changelog

All notable changes to this project will be documented in this file.

Bug Fixes

• Address #256 by changing the path in the registration of the mujoco env.
• Fixes mujoco full sensor and adds tests.

Ft[dev]

• Adds black as dev dependency.

Ft[registration]

• Changes example mujoco to use gym.make instead.

v0.9.8

Changelog

All notable changes to this project will be documented in this file.

Bug Fixes

• Excludes orientation from bicycle models.
• Fixes orientation error of bicycle model.
• Fixes radius for spherical obstacles.
• Changes moving obstacles type to pure spheres.
• Adds zero value to incomplete goals if needed. Adds collision checking to potentially abort a episode prematuraly using the terminated return value.

Ft[assets]

• Restors panda xmls.
• Ignores temporary assets for mujoco xml's.

Ft[bicycles]

• Changes bicycle to take steering positions rather than steering velocities. Introduces facing direction to compensate for urdf artifacts.

Ft[dependency]

• Updates robotmodels to pypi version.
• Adds scipy as dependency to convert different spatial representations.

Ft[dev]

• Adds rcfile for pylint in workflow.

Ft[docs]

• Adds videos to readme.

Ft[examples]

• Observation checking and info for panda mujoco example.
• Replaces panda_mujoco.py in favor of generic mujoco example.
• Removes plotting from mujoco example.
• Adds subgoals to mujoco example. Adds unitest for mujoco example.
• Updates mujoco example to have moving obstacles.
• Adds mujoco example for sensors.
• Adds lidar sensor to mujoco example.
• Adds fsd sensor to mujoco example.
• Adds video wrapper to mujoco example for showcasing.

Ft[gym]

• Updates to 1.0.0.a1. Then, relying on default mujoco rendering becomes possible.
• In gym 1.0.0.a1, environments generated with make require an additional step of unwrapping. Thus, we changed to using UrdfEnv directly.

Ft[mujoco]

• Adds example panda assets.
• Adapting mujoco xml with code.
• Adds distinction between robots and environment with mulitple robots.
• Adds example to compare mujoco and pybullet directly.
• Makes mujoco dependency explicit.
• Removes dependency from gymnasium MujocoEnv.
• Exposes access to models degrees of freedom to environment.
• Adds function to visualize static sub goals in mujoco.
• Adds mujoco installation for unittesting.
• Adds explicit dependency imageio.
• Changes obstacle and goal adding from pure geom's to body's with mocap property. That allows to change the position and orientation of obstacles and goals at runtime. Adds environment property t for mujoco env.
• Adds sensor capabilities for mujoco environments.
• Adds sensor name in raycasting sites and rangefinders to avoid duplicates.
• Adds render option to constructor arguments.
• Copies option for enforcing realtime in mujoco.

Ft[robotmodels]

• Removes searching the assets.
• Removes assets.
• Adds robotmodels as dependency.
• Modifies examples and tests to work with robot models.
• Outsources iris and prius models.
• Updates robotmodels to match changes.

Ft[scenes]

• Adds distint names for obstacles.

Ft[sensor]

• Adds lidar sensor to mujoco using rangefinder. Separates physics engine from lidar sensor.

Ft[sensors]

• Separates pybullet from most sensors, excluding raycasting ones. This is done using a physics engine interface class which is responsible for extracting link positions and obstacle positions. There are two interfaces now: One for pybullet and one for mujoco.
• Adds physics engine name argument to constructor of fsd sensor that is based on lidar.

Ft[setup]

• Adds optional dependency to mujoco ^3.0.0

Ft[style]

• Improves code style.

Ft[urdfenv]

• Makes dt a property. Breaking for outside use of dt.

Ft[version]

• Bumps version as patch for bicycle changes.

v0.8.19

Changelog

All notable changes to this project will be documented in this file.

Bug Fixes

• Ads num_sub_steps as a parameter to the front-end. With an increased num_sub_steps, accuracy for velocity can be improved see #240.
• Adds orientation to add_obstacle. Fixes base position when adding box obstacles.

Ft[bicycle]

• Removes prius and replaces it with generic bicycle model.
• Bumps version.

Ft[sensors]

• Adds orientation observation to full sensor.

Ft[tests]

• Modifies test to change.

v0.8.16

Changelog

All notable changes to this project will be documented in this file.

Bug Fixes

• Fixes orientaion of diff drive when facing direction is changed.

v0.8.15

Changelog

All notable changes to this project will be documented in this file.

Bug Fixes

• Adds time parameter to grid sensor.
• Uses deepcopy for spawn offset to avoid that the value is being overwritten by additional instances.
• Makes use of np.inf for limits in sdf and fsd sensor.
• Adds name argument to free space decomposition sensor.
• Fixes full sensor example.
• Adds dill to pyproject.toml as main dependency, addresses #221.

Ft[common]

• Allows option realtime enforcing.

Ft[lint]

• Updates linting config file.

Ft[sensor]

• Unifies variance to apply to all sensors.
• Makes plotting interval available to all sensors. Moves add shape function outside of urdfenv. Visualizes occupancy using createVisualShapeArray.
• Improves style on sensors.
• Prepares multiple styles of free space decomposition sensing.
• Add initial example for fsd based on occupancy.
• Adds plane visualization for fsd.

Ft[serialization]

• Adds method to dump and load environments.

v0.8.6

Changelog

All notable changes to this project will be documented in this file.

Bug Fixes

• Adds absolute path to ur5 robot in multi-robot example.
• Adds non-movable to dynamic obstacles
• Increases limits for free space decomposition and full sensor observation spaces.

Ft[capsules]

• Changes add_collision_shape to use add_shape to allow for capsules.
• Adds example with capsules for panda.

Ft[collision]

• Adds collision detection terminating the episode.

Ft[sensor]

• Using the numpified version of distance calculation for obstacles to increase the computation of the sdf sensor.

Ft[sensors]

• Adds option parameter to toggle visualization of lidar spheres.
• Adds occupancy sensor. Creates parent class GridSensor for SDF and occupancy sensor as most functions overlap.

Ft[style]

• Improves naming in computation of quaternion.

Ft[visuals]

• Adds option to add collision links by link name, addresses #206.

v0.8.0

Changelog

All notable changes to this project will be documented in this file.

Bug Fixes

• Adds option to specify order in quaterion.
• Adds missing getter function collision link poses.

Ft[gymnasium]

• Started the migration to gymnasium by changing all the imports.
• Updates step and reset api.

Ft[rl]

• Changed all instances of numpy data types to python data types.

Ft[spheres_per_link}

• Multiple spheres per link are saved with keys

Ft[style]

• Improves style on urdf_env.

Ft[visual]

• Adds obstacle color to urdfenvs.
• Adds the option to get the current pose of collision links.