fabrics - v0.10.0

Changelog

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

[unreleased]

Bug Fixes

• Uses UrdfEnv instead of gym.make to ensure it is working with latest version of urdfenvs that remove it from the registry.

Miscellaneous Tasks

• Updates python to ^3.10 and all dependencies. Changes using mujoco in pointroboturdf example.
• Updates workflows to python3.10.
• Adds pybullet and mujoco as separate optional dependencies.

Ft[speed-control]

• Adds initial working example with simple speed control using sigmoids.

Ft[test]

• Restores planarenvs test and disable pointroboturdf test for the time being.

Wip

• Experimenting with speed control in planar case.

- Python
Published by github-actions[bot] over 1 year ago

fabrics - v0.9.6

Changelog

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

[unreleased]

Ft[casadi]

• Refactors casadi function wrapper to use built-in support for named inputs. This replaces the custom wrapper that was in place before.

- Python
Published by github-actions[bot] almost 2 years ago

fabrics - v0.9.5

Changelog

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

[unreleased]

Ft[logging]

• Makes warning for casadi pseudo inverse a debug message.'

- Python
Published by github-actions[bot] about 2 years ago

fabrics - v0.9.4

Changelog

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

- Python
Published by github-actions[bot] about 2 years ago

fabrics - v0.9.1

Changelog

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

[unreleased]

Ft[examples]

• Removes unused components. Using fk.numpy to simplify the forward kinematics computation. Improves code style.

Ft[version]

• Bumps version.

- Python
Published by github-actions[bot] about 2 years ago

fabrics - v0.9.0

Changelog

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

[unreleased]

Miscellaneous Tasks

• Makes dependency on mujoco explicit.

Ft[examples]

• Updates examples to gymnasium 1.0.0a1 syntax using unwrapped.

Ft[mujoco]

• Translates panda example to mujoco ephysics engine.

Ft[urdfenvs]

• Updates to march release of urdfenvs.
• Updates to fix release of urdfenvs. version 0.9.9

- Python
Published by github-actions[bot] over 2 years ago

fabrics - v0.8.10

Changelog

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

[unreleased]

Bug Fixes

• Limits version of forward kinematics allowed, addresses #128.

[0.8.9] - 2023-11-27

Bug Fixes

• Fixes unit test for self collision avoidance.

Fix[selfcollision]

• Fixes #45 by adding variables names for self collision links.

[ftbaseprismatic]

• Add prismatic joint to panda
• Prismatic joint done

Ft[base_prismatic]

• Restores the list of end-links to ensure that constraints goals are respected.

Ft[selfcollision]

• Adds body radiusses in panda self collision example.

Ft[test]

• Adds ignore flag for casadi Function wrapper accepting all the different input types.

[0.8.8] - 2023-10-24

Bug Fixes

• Fixes distance line to line clamping error.
• Fixes panda example for capsule cuboid geometry and adds corresponding tests. Still an issue with some capsules due to Jdot being nan.

Miscellaneous Tasks

• Adds depration to required dependencies.

WIP

• Panda dual arm.

Ft[coverage]

• Adds test for generic leaf and capsule cuboid leaf.

Ft[cuboids]

• Uncomments cuboid capsule related maps.

Ft[example]

• Restores simple panda example and adds simple dual vacuum example.

Ft[helpers]

• Adds helper function to compute rotation matrix.

Ft[rotation]

• Deprecates angle usage in subgoals.
• Changes panda examples to not use subgoal attribute angle anymore.

Ft[rotations]

• Idea on simplifying rotations is working :rocket.

[0.8.7] - 2023-09-29

Bug Fixes

• Fixes line to line and cuboid distances.

Ft[cpp-bridge]

• Adds some basic documentation.
• Adds commented line in panda example to export as c code.

Ft[cpp]

• Allows to export planner as c code. Adds example of how to use it.

Ft[distance]

• Changes line-to-line distance to a closed form solution rather than sampling.

Ft[distances]

• Adds sample-free distance computation for cuboids.

- Python
Published by github-actions[bot] over 2 years ago

fabrics - v0.8.9

Changelog

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

[unreleased]

Bug Fixes

• Fixes unit test for self collision avoidance.

Fix[selfcollision]

• Fixes #45 by adding variables names for self collision links.

[ftbaseprismatic]

• Add prismatic joint to panda
• Prismatic joint done

Ft[base_prismatic]

• Restores the list of end-links to ensure that constraints goals are respected.

Ft[selfcollision]

• Adds body radiusses in panda self collision example.

Ft[test]

• Adds ignore flag for casadi Function wrapper accepting all the different input types.

[0.8.8] - 2023-10-24

Bug Fixes

• Fixes distance line to line clamping error.
• Fixes panda example for capsule cuboid geometry and adds corresponding tests. Still an issue with some capsules due to Jdot being nan.

Miscellaneous Tasks

• Adds depration to required dependencies.

WIP

• Panda dual arm.

Ft[coverage]

• Adds test for generic leaf and capsule cuboid leaf.

Ft[cuboids]

• Uncomments cuboid capsule related maps.

Ft[example]

• Restores simple panda example and adds simple dual vacuum example.

Ft[helpers]

• Adds helper function to compute rotation matrix.

Ft[rotation]

• Deprecates angle usage in subgoals.
• Changes panda examples to not use subgoal attribute angle anymore.

Ft[rotations]

• Idea on simplifying rotations is working :rocket.

[0.8.7] - 2023-09-29

Bug Fixes

• Fixes line to line and cuboid distances.

Ft[cpp-bridge]

• Adds some basic documentation.
• Adds commented line in panda example to export as c code.

Ft[cpp]

• Allows to export planner as c code. Adds example of how to use it.

Ft[distance]

• Changes line-to-line distance to a closed form solution rather than sampling.

Ft[distances]

• Adds sample-free distance computation for cuboids.

- Python
Published by github-actions[bot] over 2 years ago

fabrics - v0.8.8

Changelog

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

[unreleased]

Bug Fixes

• Fixes distance line to line clamping error.
• Fixes panda example for capsule cuboid geometry and adds corresponding tests. Still an issue with some capsules due to Jdot being nan.

Miscellaneous Tasks

• Adds depration to required dependencies.

WIP

• Panda dual arm.

Ft[coverage]

• Adds test for generic leaf and capsule cuboid leaf.

Ft[cuboids]

• Uncomments cuboid capsule related maps.

Ft[example]

• Restores simple panda example and adds simple dual vacuum example.

Ft[helpers]

• Adds helper function to compute rotation matrix.

Ft[rotation]

• Deprecates angle usage in subgoals.
• Changes panda examples to not use subgoal attribute angle anymore.

Ft[rotations]

• Idea on simplifying rotations is working :rocket.

[0.8.7] - 2023-09-29

Bug Fixes

• Fixes line to line and cuboid distances.

Ft[cpp-bridge]

• Adds some basic documentation.
• Adds commented line in panda example to export as c code.

Ft[cpp]

• Allows to export planner as c code. Adds example of how to use it.

Ft[distance]

• Changes line-to-line distance to a closed form solution rather than sampling.

Ft[distances]

• Adds sample-free distance computation for cuboids.

- Python
Published by github-actions[bot] over 2 years ago

fabrics - v0.8.7

Changelog

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

[unreleased]

Bug Fixes

• Fixes line to line and cuboid distances.

Ft[cpp-bridge]

• Adds some basic documentation.
• Adds commented line in panda example to export as c code.

Ft[cpp]

• Allows to export planner as c code. Adds example of how to use it.

Ft[distance]

• Changes line-to-line distance to a closed form solution rather than sampling.

Ft[distances]

• Adds sample-free distance computation for cuboids.

- Python
Published by github-actions[bot] over 2 years ago

fabrics - v0.8.6

Changelog

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

[unreleased]

Bug Fixes

• Removes concretize from serialize, addresses issue #106.
• Updates the fk dependency. Addresses #102.

WIP

• Speeding up lagrangian summation.

Ft[core]

• Prevents energy adding to require applying the euler lagrange equation.

Ft[version]

• Lowers casadi version to be compatible with forcespro for MPC.

- Python
Published by github-actions[bot] almost 3 years ago

fabrics - 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 planarrobotesdf according to new forward kinematics.

- Python
Published by github-actions[bot] almost 3 years ago

fabrics - 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.

- Python
Published by github-actions[bot] almost 3 years ago

fabrics - 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 getforwardkinematics_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 pointroboturdf.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

- Python
Published by github-actions[bot] about 3 years ago

fabrics - 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 selfcollisionpairs 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.

- Python
Published by github-actions[bot] about 3 years ago

fabrics - 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.

- Python
Published by github-actions[bot] over 3 years ago

fabrics - 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.

- Python
Published by github-actions[bot] over 3 years ago