Releases | Open Source Science

ir-sim - ir-sim-v2.7.2

Features:
- Add a new gui section to the YAML configuration for keyboard and mouse controls. see gui configuration #116
- Change the default keyboard backend to Matplotlib (mpl), which uses figure window key events. The mpl backend is active when the Matplotlib figure window is focused. The pynput backend, which provides a global keyboard hook, remains supported and can be selected in YAML. #116
- Add env.reload() to reload the environment on the fly, enabling YAML changes to be applied without closing the Matplotlib figure window. #119
- Add hotkeys to configure and update environment settings, available in both auto and keyboard control modes #117 #119 :
- r: Reset the environment
- space: Pause/Resume the environment
- esc: Quit the environment
- x: Switch between keyboard and auto control modes
- l: Reload the environment and apply the updated YAML without closing the Matplotlib figure window
- update corresponding documentation and usage. #118

- Python
Published by hanruihua 6 months ago

ir-sim - ir-sim-v2.7.1

Features:
- Add a name attribute for the object, configurable in the YAML file. #113
- A duplicate name check is included to ensure there are no duplicate names. #113
- Reorganize and clarify the env.step action order: 1) keyboard control; 2) input action; 3) behavior control. #113
- Add env.get_object_by_name and env.get_object_by_id functions to retrieve objects by name and ID. #113
Bug Fixes:
- Fix errors in documentation and function comments. #109

- Python
Published by hanruihua 6 months ago

ir-sim - ir-sim-v2.7.0

This version improves the CI pipeline, GitHub Actions workflows, linting, and formatting to ensure consistent style and faster checks, with no API changes.

Workflow improvements:
- Adopted uv to manage the project and dependencies; pyproject.toml is now uv-managed. #95
- Using uv.lock to lock the dependencies. #95
- Using Ruff for linting and formatting (replacing Black). #103
- Added type hint and Using ty for type checking. #103
- Added pre-commit configuration (.pre-commit-config.yaml) to run linting and formatting before commits. #98
- Reorganized GitHub Actions workflows to test the API and enforce code style. #97
- Added issue templates; dependabot.yml; Contributing; #93 #98 4217132fbed7e494f1c2c3810eefbd1d206e0bd3

Many thanks to @sobolevn for the valuable suggestions.

Bug fixes:
- Fixed documentation errors. #98 #99 #104
- Fixed 3D plot title. #100
Folder structure:
- Renamed doc/ to docs/. #105
- Moved irsim/usage/ to usage/ at the repository root. #105

- Python
Published by hanruihua 7 months ago

ir-sim - ir-sim-v2.6.1

Bug Fixes:
- Fix documentation error. #90
Features:
- Add WrapTo2Pi function. #91
- WrapTo2Pi for lidar and fov angle range. #91

- Python
Published by hanruihua 7 months ago

ir-sim - ir-sim-v2.6.0

This version is a major update of the documentation website. The new website is more user-friendly and easier to navigate the parameters usage and the API.

Main Features
- Add version switcher to the documentation. #85
- Refine the documentation style. #85
- Refine the comments and code style. #85
Bug Fixes:
- Extract item from ndarray by @reiniscimurs . #79
- Fix goal orientation and traj keep length. #80
- Fix gif generation bug. #81
API Changes:
- Rename global_param folder to be config. All the call of the global_param should be replaced to config. #88
- Rename keep_length to keep_traj_length and keep_trail_length. #84

- Python
Published by hanruihua 7 months ago

ir-sim - ir-sim-v2.5.5

New Features:
- Add environment title to show current simulation time and robots status. You can also customize the title by setting the env.set_title function. see make env documentation for detail. b0a52844501c15aae7bdb6e5395408d4ca24ae6d

Add environment pause and resume function. You can pause/resume the environment by pressing space key in the keyboard control. see keyboard control documentation for detail. 71e6cf516d7e9ca5c5dbee9868d91fcffe086540
Change the default figure pixel (size) to be 1000x800. a6b1eedaa5173f84e3782f27f8cb27b5a9361795
- Enhancements:
Refine code style, log warning output, and website documentation.

- Python
Published by hanruihua 8 months ago

ir-sim - ir-sim-v2.5.4

This release resolves the pynput import issue identified in v2.5.3. No additional features have been introduced.

- Python
Published by hanruihua 8 months ago

ir-sim - ir-sim-v2.5.3

New Features:
- Add a GUI module, including keyboard and mouse control #68 .
- Add mouse control documentation #73.
- Set the default goal of objects to None #71.
Bug Fixes:
- Fix the backend error on macOS 714c9311f73bb35f80cab9a8ba11e94d13a9b922.
- Fix the z-order issue in object plotting f7e23b74a7262e96ff3beaf78c396e40d47dd65d.
- Fix the object collision-check issue #72.
API Changes:
- Add mouse_left_pos, mouse_right_pos, and mouse_pos attributes to the environment for mouse control.
- Move keyboard_control.py to the gui folder, changing the keyboard API (e.g. from env.alt_flag to env.keyboard.alt_flag).

- Python
Published by hanruihua 8 months ago

ir-sim - ir-sim-v2.5.2

Bug Fixes:
- Fix the bug of the clear components 10c58243d49086fb93b3d1215d4bfe8063b96d99.

- Python
Published by hanruihua 9 months ago

ir-sim - ir-sim-v2.5.1

Bug Fixes:
- Fix the goal plot coordinate bug 6cf78e3e7e9fbe81c464252d11296c4be6045e45.
- Fix grammar, format, and typos in the documentation and comments 441edfb85c452b4c30d862e861f325d61bfecf03 4e03fd23dfa446321f3958d77c86463056aaa60c.
- Uniform the name of accer to acce for acceleration parameter 6c94a5f9ce568f215bc77f17ce5eb3f1e23f3364.
- Remove state check warning for obstacles 30b244497edf9d2318b1f5f2056dc94b392ed6d7.
New Features:
- Add center for circular object 15f09c71e03443584cdc25c9aaab4cdab6423107.

- Python
Published by hanruihua 9 months ago

ir-sim - ir-sim-v2.5.0

This version improves time cost performance (approximately 40% speed improvement) by refactoring the object plot function and the geometry transform operation for large environments.

New Features:
- Refactor the object plot function using Matplotlib patch transforms #64 .
- Add new object plot features and API #64 .
- Refactor the geometry-transform operation 51268598f3f0566a3a03176c88db4465668e8d6e.
- Improve test coverage b92838ea0400c200de040706d399fbaf805cdfed.
- Add a set-laser-color function 80ea9313d9e536b58ed790b97d064a2266d27066.
- Refine documentation and the to-do list #59 #64 .
- Add a UV lock file for the project #64 .
Bug Fixes:
- Fix bugs in object plot #64 .
- Rename init_vertices to original_vertices #64 .
- Rename init_geometry to original_geometry #64 .
- Fix warning messages #63.

- Python
Published by hanruihua 9 months ago

ir-sim - ir-sim-v2.4.4

Bug Fixes:
- Fix geometry tree bug (#55)
- Fix 3D plot bug (65a2c8ca03ecf31baaaf522c7f51d0eabd6662e1)
New Features:
- Add rrt star path planner (#54) by @reiniscimurs
- Add neighbor_threshold parameter for the rvo behavior (9b7f4834542fc3d3b56e7d3312d4e193a836f900)
Enhancements:
- Update the distance function to accelerate the rvo algorithm (b56ce6c230f5989ea1795fa011b32e273ee4e093).
- Update the robot image (6e0e796506c65e1d5206b9c3c3a0d692d34a239b).

- Python
Published by hanruihua 10 months ago

ir-sim - ir-sim-v2.4.3

Bug Fixes:
- Fix lidar offset plot bug.
New Features:
- Implement several classic path planners (see planners]), A star, RRT, and PRM adapted from PythonRobotics repo by @reiniscimurs (#51).
- Add draw quiver functions.
- Add world plot parameters in yaml file, see usage02
- Update requirements (scipy, black)

- Python
Published by hanruihua 10 months ago

ir-sim - ir-sim-v2.4.2

Bug Fixes:
- Change omni robot default state dim to be 3.
- Remove the checkcollision and arrive property in the envbase.
- Fix bugs in test cases; Remove some old features (#50).
New Features:
- Reorganize the logger functions (#47).
- Add object heading and orientation (#48).
- Formulate the geometry tree for the collision check (#49)
- Improve test coverage of this code (#50).

- Python
Published by hanruihua 10 months ago

ir-sim - ir-sim-v2.4.1

Bug Fixes:
- Fix the polygon trail type bug #36 .
New Features:
- Make sure the obstacles are valid polygons #37.
- Add functions to set the laser color #41 .
- Env can be initialized without yaml files #45 .
- Add the render mode to select the objects to render. static, dynamic, all #45 .
- Enhance readme and Documentation #38 61b4b468dba5c21fd969eebc739362d25d90fdb1 by @GuoliangLI1998.
- Add dynamic random obstacles usage (4d8aa3be98c393920c104ff93004deb31fdcadd8)

- Python
Published by hanruihua 11 months ago

ir-sim - ir-sim-v2.4.0

New Features:
- Add binary map generator and example HM3D binary maps by @GuoliangLI1998 in #34. see usage grid map and binary maps for details.
- Accelerate collision check for larger binary maps in #35.
- Setting random goals call for objects by @reiniscimurs in #33
- Support multiple goal setting in #27.
- Add the requirement files in #26 .
Bug Fixes:
- Fix the bug of the collision mode with unobstructed_obstacles in #29.
- Fix the typo in readme and documentation in #28.
- Fix the errors in log message.
- Fix the multi-obj keyboard control error in #31 #30

- Python
Published by hanruihua 11 months ago

ir-sim - ir-sim-v2.3.6

Bug Fixes:
- The Lidar2D sensor now passes through unobstructed objects, see usage: 05lidar_world for detail. #24
- Fix the matplotlib backend error when running in the headless server. #23 #25
- Fix the dimension error of object vertices.
- Fix the plot parameter name: edgecolor -> trailedgecolor; linewidth -> traillinewidth;
New Features:
- Add the obj_linestyle parameter for the object to set the line style of the object edge. see usage: 05lidar_world for detail. #24
- Update object property comments and API documentation.

- Python
Published by hanruihua 12 months ago

ir-sim - ir-sim-v2.3.5

Bug Fixes:
- Dimension of init vertices for the polygon object
New Features:
- Complete the feature of show_textfor the object and add abbrname for the object, run usage: 06multiobjectsworld for detail.
- Add init parameters for the set_goal function #22.
- Add add_object, add_objects, delete_object, delete_objects functions for the environment to support adding or eliminating obstacles.
- Add get_Ghfunction for the object to get the inequality generalization matrixs by current state.
- Update type hint for the functions and format the code with black.

- Python
Published by hanruihua 12 months ago

ir-sim -

Fix some bugs:
- State angle reset bug under omni robot dynamics #18.
- Rvo zero division #18
- Python version compatibility #19
- Update Documentations
- Fix matplotlib bug
New Features:
- Add passable ids for randomobstacleposition by @reiniscimurs in #16.
- Make obstacles spawn in unique locations for randomobstacleposition by @reiniscimurs in #18.
- Support saving the animation as video file.
- Python version >= 3.9
- Rename get_obstacle_list()to get_obstacle_info_list()[source] for clarity

- Python
Published by hanruihua about 1 year ago

ir-sim - ir-sim-v2.3.2

ir-sim 2.3.2 is a bug fix release with no new features compared to 2.3.1.

- Python
Published by hanruihua about 1 year ago

ir-sim - ir-sim-v2.3.1

Update relevant documentation.
Fix some bugs
New Features:
- Add FOV for the object, see usage 15fov_world for detail.
- Add arguments for function WrapToPi.
- Add the role selection for the behaviors.

- Python
Published by hanruihua about 1 year ago

ir-sim - ir-sim-v2.3.0

Major Version Update:

Public the documentation for the project.
Add the coverage test for the project.
Reformulate the kinematics handler and geometry handler to configure the robot and obstacles.
Reorganize the lidar2d step function to make it faster.
Update the comments for the functions.
Fix some bugs in the project.
Add 3d plot environment.

- Python
Published by hanruihua about 1 year ago