v0.8.2

Changelog

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

[unreleased]

Ft[capsule]

• Initial working example with capsule collision links.
• Generalized the capsule sphere collision geometry and incorporates multiple capsules into panda example.
• Adds unittesting for capsule_sphere geometry.

Ft[distances]

• Adds distance functions for most combinations of point/sphere/capsule/plane/line. This paves the path to capsule collision avoidance.

Ft[docs]

• Adds simple contribution guide.

Ft[style]

• Splits set_components function into separate functions while keeping the function. Now the individual parts can be called from the outside without breaking old codes using fabrics.
• Removes ambigous arguments robot_type and urdf for forward kinematics from paramaterized planner in favor of passing the fk directly.

Ft[tests]

• Adds example testing for panda_capsules.

Ft[update]

• Updates urdfenvs to improve collision links and updating to gymnasium.
• Updates casadi to 3.6.
• Updates planar_robot_esdf according to new forward kinematics.

v0.7.4

Changelog

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

[unreleased]

Ft[casadi]

• Disable updating of casadi to 3.6.0.

Ft[cleanup]

• Removes deprecated function joinVariables.
• Moves plane constraints used for free space decomposition inside core planner.
• Clean up on fsd example.

Ft[constraints]

• Made sure I could use separate function for constraints and collision geometries

Ft[fsd]

• Initial working example with free space decomposition.

Ft[planes]

• Adds plane constraint in panda example.

Ft[testing]

• Adds unittest for limit leaf and plane constraint leaf.

v0.7.3

Changelog

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

[unreleased]

Bug Fixes

• Fixes non_holonomic planner by introducing a facing direction.
• Removes limits from tiago robot as they were accessed through private attributes.

Ft[case]

• Adds example for dynamic fabrics with point robot.

Ft[cleanup]

• Removes unused function get_forward_kinematics_F.
• Removes video recording from panda picking.

Ft[debug]

• Fixed renaming of panda.py and panda_debug.py
• Trying to make debug function general for all geometries, work in progress (but does run)
• Worked on providing x and xdot per geometry for all types of geometries. Bug is commented in capitals (line 166)
• Added plotting to show geometries in configuration and task space. Still To Do: goal geometries!
• Adds concretize and evaluate for entire leaves.
• Adds debug case to list of agent testing.
• Adds debugging for individual leaves.

Ft[examples]

• Changes point_robot_urdf.py example to use the generic urdf forward kinematics, thus ignoring the robottype.

Ft[picking]

• Adds improved urdf file for panda with gripper.
• Adds example for picking a box with fabrics.

Ft[radii]

• Now you can provide a list of radii of the bodies and their corresponding numbers.
• Changes inputs to use dictionaries to be more generic.
• Now you can provide a list of radii of the bodies

Ft[update]

• Updates urdfenvs to ^0.7.0.
• Updates to newer version of urdfenvs and planarenvs to get access to the feature 'facing_direction' for non-holonomic robots.

T[frontend]

• Allows for passing list of dynamic obstacles

v0.7.1

Changelog

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

[unreleased]

Bug Fixes

• Esdf example requires urdf so the actions must be run from within the right folder.
• Changes release trigger to every first of the month.
• Arranging videos in readme.

Fix

• Removes plotting from esdf examples.

Ft[docs]

• Adds link to lecture notes by Nathan Ratliff.

Ft[edf]

• Initial example setup for edf.
• Adds explicit differential map for edf.
• First working example with ESDFs.

Ft[esdf]

• Makes collision links and self_collision_pairs optional in set_components.
• Adds explicit differential map and ESDFGeometry.
• Adds example for usage of esdf.
• The changes in set_components make this PR a breaking one.

Ft[mode]

• Adds option to concretize in velocity mode.

v0.6.3

Changelog

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

[unreleased]

Bug Fixes

• Fixes bug in adding of geometries. Was not update to new variables used.
• Adds exception handling if parent link not available.
• Makes all subgoals 3D to compensate for bug in urdfenvs.

v0.6.2

Changelog

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

[unreleased]

Ft

• Clears output of spec tutorial and changes warning on spec inversion.
• Adds option to precreate a reference parameter for dynamic obstacles.

Ft[ci]

• Adds release workflow.

Ft[doc]

• Corrects missing install guide with pip.