v0.10.2

Changelog

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

Bug Fixes

• Corrects typo in github workflows.
• Corrects typo in github workflows.
• Adds upwards passing of physics_engine_name in free_space_occupancy sensor.
• Fixes realtime in mujoco environment and removes check for frames and metadata. Removes print in mujoco interface.
• Bumps package version.

Fix

• Initializes end_last_step_time variable in case reset is not called inside the constructor.

Ft[ci]

• Updates workflows and incereases package version.

Ft[clean]

• Removes dangling specifications of physics engine realizations. Alligns quotation marks style.
• Removes commented dependencies.

Ft[dependencies]

• Updates python to newer versions. Makes pybullet an optional dependency.
• Makes pybullet explicit in generic robot file.
• Splits pybullet related helpers to general helpers.
• Makes distinction between mujoco sensor and pybullet ones to avoid confusion and to allow the usage of mujoco without installation of pybullet.
• Splits docs and dev depndencies.
• Simpflifies dependencies.

Ft[pybullet]

• Restores pybullet examples with pybullet as optional dependency.

Ft[tests]

• Restores test functionality with optional pybullet depndency.

Ft[windows]

• Fixes filename extraction for xml files loading in mujoco.

v0.9.15

Changelog

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

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.