ir-sim-v2.10.2

• Fix:

  • Apply body-frame circle-center offsets consistently across collision geometry, rendering, convex G/h constraints, and RVO neighbor state, and clamp the HRVO inverse-sine input. Keeps offset and Ackermann circles aligned across representations and prevents math-domain failures. (#344)

• Refactor:

  • Extract object rendering from ObjectBase into a dedicated ObjectPlot class and encapsulate plotting options in dataclasses while preserving the public API and option precedence. Separates rendering responsibilities without breaking existing callers. (#345)

• Docs:

  • Move 17 documentation GIFs (~64 MB) to the dedicated IR-SIM-GIFs repository and replace local paths with remote URLs. Keeps the source tree lightweight without losing visual examples. (#341)
  • Align usage and YAML documentation with runtime defaults, expand public API docstrings, and improve API navigation in English and Chinese. Keeps documented behavior and entry points consistent with the implementation. (#343)
  • Refresh Chinese translation catalogs, clarify world.status semantics, remove the undocumented "Done" value from the documented runtime-status list, and upgrade Ruff to 0.16.0 with reformatted Markdown code blocks. Keeps bilingual documentation and linted examples synchronized. (#347)

• Tests:

  • Consolidate 25 test files into 13, raise irsim/ coverage from 96.7% to 97.3%, and reduce the local suite runtime from 3:02 to 2:08. Route environment and world parameter module access through their bound instances to prevent leaked global state while making the suite smaller and more reliable. (#346)