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 planar_robot_esdf according to new forward kinematics.