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.