Recent Releases of urdfenvs
urdfenvs - 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 physicsenginename in freespaceoccupancy sensor.
- Fixes realtime in mujoco environment and removes check for frames and metadata. Removes print in mujoco interface.
- Bumps package version.
Fix
- Initializes endlaststep_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.
- Python
Published by github-actions[bot] over 1 year ago
urdfenvs - 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.
- Python
Published by github-actions[bot] about 2 years ago
urdfenvs - 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.
- Python
Published by github-actions[bot] over 2 years ago
urdfenvs - 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.
- Python
Published by github-actions[bot] over 2 years ago
urdfenvs - v0.8.19
Changelog
All notable changes to this project will be documented in this file.
Bug Fixes
- Ads numsubsteps as a parameter to the front-end. With an increased numsubsteps, 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.
- Python
Published by github-actions[bot] over 2 years ago
urdfenvs - 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.
- Python
Published by github-actions[bot] almost 3 years ago
urdfenvs - v0.8.6
Changelog
All notable changes to this project will be documented in this file.
Bug Fixes
- Adds absolute path to ur5 robot in multi-robot example.
- Adds non-movable to dynamic obstacles
- Increases limits for free space decomposition and full sensor observation spaces.
Ft[capsules]
- Changes addcollisionshape to use add_shape to allow for capsules.
- Adds example with capsules for panda.
Ft[collision]
- Adds collision detection terminating the episode.
Ft[sensor]
- Using the numpified version of distance calculation for obstacles to increase the computation of the sdf sensor.
Ft[sensors]
- Adds option parameter to toggle visualization of lidar spheres.
- Adds occupancy sensor. Creates parent class GridSensor for SDF and occupancy sensor as most functions overlap.
Ft[style]
- Improves naming in computation of quaternion.
Ft[visuals]
- Adds option to add collision links by link name, addresses #206.
- Python
Published by github-actions[bot] almost 3 years ago
urdfenvs - v0.8.0
Changelog
All notable changes to this project will be documented in this file.
Bug Fixes
- Adds option to specify order in quaterion.
- Adds missing getter function collision link poses.
Ft[gymnasium]
- Started the migration to gymnasium by changing all the imports.
- Updates step and reset api.
Ft[rl]
- Changed all instances of numpy data types to python data types.
Ft[spheresperlink}
- Multiple spheres per link are saved with keys
Ft[style]
- Improves style on urdf_env.
Ft[visual]
- Adds obstacle color to urdfenvs.
- Adds the option to get the current pose of collision links.
- Python
Published by github-actions[bot] almost 3 years ago
urdfenvs - v0.7.6
Changelog
All notable changes to this project will be documented in this file.
Bug Fixes
- Adds facing direction option for non-holonomic robots to compensate for non-holonomic robots that are not facing in positive x direction by default.
- Python
Published by github-actions[bot] about 3 years ago
urdfenvs - v0.7.5
Changelog
All notable changes to this project will be documented in this file.
Bug Fixes
- Fixes cylinder obstacle visualization and adds an example in point_robot.py
- Removes large jupyter notebooks.
- Adds optional transformation matrix for collision links.
Ft[collision_links]
- Attaches collision link to robot to avoid manual updating, thanks @LuziaKn
- Brings gym version back to 0.26
Ft[reward]
- Initializes reward system thanks @behradkhadem
Ft[sdf]
- Adds sensor for generating sdf and evaluating it.
- Adds interval for computation and corrects index mixup.
Ft[sensors]
- Adds 3d lidar sensor.
- Python
Published by github-actions[bot] about 3 years ago
urdfenvs - v0.7.3
Changelog
All notable changes to this project will be documented in this file.
Bug Fixes
- Workflow for creating release.
- None-array for limits of weight observation with FullSensor.
- Removes argument 'raw_data' from fsd sensor as it is required to be set to False.
Ft[sensors]
- Makes lidar sensor accept names rather than ids.
- Adds free space decomposition sensor.
- Removes unneeded imports for free space decomp.
- Python
Published by github-actions[bot] about 3 years ago
urdfenvs - v0.7.1
Changelog
All notable changes to this project will be documented in this file.
Bug Fixes
- Workflow bug corrected.
- Removes print statement in empty_scene.
- Adds missing formator for error checking in observation.
Ft
- Adds the option to shuffle the environment.
Ft[scenes]
- Adds shuffle boundaries for some goals.
- Python
Published by github-actions[bot] over 3 years ago
urdfenvs - v0.7.0
Changelog
All notable changes to this project will be documented in this file.
Bug Fixes
- Fixes too high velocities in test_vel.
- Sets the spaces after the adding of scene objects.
- Improve style in changed files.
- Corrects action spaces and adds action checking.
- Corrects action space for bicycle models.
- Action space for quadrotor model.
Ft
- Adds option to reposition a differential drive robot.
- Adds option to ignore observation space violations.
Ft[sensors]
- Fixes wrong observation spaces for sensors.
Ft[spaces]
- Replaces Exception raising when spaces are violated with info and done output of step function.
Ft[structure]
- Redefines reset and initin urdf_env.
- Python
Published by github-actions[bot] over 3 years ago
urdfenvs - v0.6.0
Changelog
All notable changes to this project will be documented in this file.
Bug Fixes
- Removes artificial rotation of boxer and albert.
Ft
- Removes requirement to specify actuated joints.
- Replaces publish package with proper releasing.
Ft[cleanup]
- Moves urdf checking into most generic class.
Ft[generic]
- Moves all urdfs and meshes to asset folder.
- Prepares differential drive to generic version.
- Updates examples to generic diff drive.
- Python
Published by github-actions[bot] over 3 years ago
urdfenvs - v.0.5.1
Changelog
All notable changes to this project will be documented in this file.
0.5.1
Bug Fixes
- Changes to adding subgoals instead of composition.
Ft[installation]
- Updates poetry structure.
- Updates actions and docs for poetry config update.
Ft[sensors]
- Gives FullSensor access to all attributes of environment.
- Uses pybullet state estimator.
Ft[video]
- Adds function to start and stop video recording.
- Adds function wrapper to adjust camera configuration.
- Adds function wrapper to get camera configuration.
- Python
Published by maxspahn over 3 years ago