Skip to content

Latest commit

 

History

History
139 lines (91 loc) · 5.06 KB

CHANGELOG.rst

File metadata and controls

139 lines (91 loc) · 5.06 KB

Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog and this project adheres to Semantic Versioning.

Unreleased

Added

Changed

Fixed * Fixed clone_body bug when input links contains BASE_LINK * Fixed inverse_kinematics_helper to use target_quat when null_space is used

Deprecated

Removed

Known Unresolved Issues

  • get_body_collision_vertices does not support cloned body now. We don't have a good way to do catch-throw for this now.
  • Cloning body from an already cloned body introduces unexpected result (visual or collision data erased etc).

0.6.0

Added * Added distance_threshold to pairwise_link_collision_info and pairwise_link_collision to allow collision checking given a penetration threshold * Added sweep_collision_fn to birrt to allow sweep collision check in edge expansion * Added coarse_waypoints to the smooth_path function to give options for use refined shortcut to ensure collision-free results. * LOGGER introduced to replace print * Added get_data_filename_and_height to include cached mesh filename and scale from get_model_info * Added CreateVisualArray and CreateCollisionArray for visual_shape_from_data and visual_shape_from_data. We use the new get_data_filename_and_height when file_name is UNKNOWN_FILE. * Added load_pybullet support for stl files by create_obj. * Added get_body_collision_vertices for getting body collision vertices in its current configuration.

Changed * Apply HideOutput to pybullet IK error printouts in inverse_kinematics_helper * motion_planners module up-to-date with commit e6f23053e. * Changed the mesh reading procedure in vertices_from_data from pp.read_obj to meshio.read. This fixes #9. * smooth_path's max_iterations argument changed to max_smooth_iterations * 'set_color' defaulted to set the color of all the links of body. * vertices_from_data get filename and scale from cached INFO_FROM_BODY (through get_data_filename_and_height) if the data's filename does not end with .urdf

Fixed * Fixed read_obj returns empty dict if obj file does not start with objects (o object_name) * Fixed get_extend_fn(q1,q2) to include q1 in its output path. This bug was causing incorrect planning result in birrt, because the two trees will have a gap in the middle that is unchecked. * Fixed a minor mesh vertex scaling bug in vertices_from_data * catch get_num_joints(body) == 0 when a rigid body without joint and link are passed to clone_body * clear INFO_FROM_DATA when disconnect or reset_simulation

0.5.1

Added * Added current_conf to as the single-node ladder in the ladder graph Cartesian planning plan_cartesian_motion_lg

Changed * Changed Attachment.from_data to construct parent and child bodies from body name data * Changed EdgeBuilder from using upper_tm and joint_vel_limits to directly using jump_threshold

0.5.0

Changed

Added

  • Added SE3 floating body motion planning
  • Added ladder graph cartesian planner

Removed

  • Removed requirments.txt, moved dependencies into setup.py

0.1.1

Fixed

  • Fixed Windows OS "Display not in os.environ" issue in connect

0.1.0

Added

  • diagnosis collision checking function to help visualizing the collision bodies' information
  • add workspace_bodies to the get_collision_fn to check collisions with the obstacles specified in a URDF file.
  • move ik_interface module from application side to this repo, since it's "universal" for fixed-end robot. Might need to add a separete one for robots with moving base later.
  • enable travis ci unit test, collision_fn well tested
  • get_floating_body_collision_fn to check a body without joints's collision. Associated test added.
  • Added snap_sols to kinematics.ik_utils

Changed

  • add extra_disabled_collisions parameter to get_collision_fn, plan_joint_motion
  • Changed get_name to return name without index if name is not ''

Removed

  • get_collision_diagnosis_fn removed, integrated into the get_collision_fn

Fixed

  • utils.numeric_sample.randomize: random.shuffle cannot operate on a range in py 3.x. Enforced conversion to list to fix it.
  • Fixed get_collision_fn to ignore checking between bodies both specified in attachment and obstacles (prioritize its role as attachment)

Deprecated

TODO

  • add body name for bodies from create_obj

Requested features

  • clone_body work for bodies from create_obj

0.0.1

Added

  • Initial version
  • Divide the original utils.py file into separate modules
  • Modules cycle dependency resolved.