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 get_forward_kinematics_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 point_robot_urdf.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