v0.10.0

Changelog

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

[unreleased]

Bug Fixes

• Uses UrdfEnv instead of gym.make to ensure it is working with latest version of urdfenvs that remove it from the registry.

Miscellaneous Tasks

• Updates python to ^3.10 and all dependencies. Changes using mujoco in point_robot_urdf example.
• Updates workflows to python3.10.
• Adds pybullet and mujoco as separate optional dependencies.

Ft[speed-control]

• Adds initial working example with simple speed control using sigmoids.

Ft[test]

• Restores planarenvs test and disable point_robot_urdf test for the time being.

Wip

• Experimenting with speed control in planar case.

v0.9.6

Changelog

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

[unreleased]

Ft[casadi]

• Refactors casadi function wrapper to use built-in support for named inputs. This replaces the custom wrapper that was in place before.

v0.9.5

Changelog

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

[unreleased]

Ft[logging]

• Makes warning for casadi pseudo inverse a debug message.'

v0.9.4

Changelog

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

v0.9.1

Changelog

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

[unreleased]

Ft[examples]

• Removes unused components. Using fk.numpy to simplify the forward kinematics computation. Improves code style.

Ft[version]

• Bumps version.

v0.9.0

Changelog

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

[unreleased]

Miscellaneous Tasks

• Makes dependency on mujoco explicit.

Ft[examples]

• Updates examples to gymnasium 1.0.0a1 syntax using unwrapped.

Ft[mujoco]

• Translates panda example to mujoco ephysics engine.

Ft[urdfenvs]

• Updates to march release of urdfenvs.
• Updates to fix release of urdfenvs. version 0.9.9

v0.8.10

Changelog

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

[unreleased]

Bug Fixes

• Limits version of forward kinematics allowed, addresses #128.

[0.8.9] - 2023-11-27

Bug Fixes

• Fixes unit test for self collision avoidance.

Fix[selfcollision]

• Fixes #45 by adding variables names for self collision links.

[ft_base_prismatic]

• Add prismatic joint to panda
• Prismatic joint done

Ft[base_prismatic]

• Restores the list of end-links to ensure that constraints goals are respected.

Ft[selfcollision]

• Adds body radiusses in panda self collision example.

Ft[test]

• Adds ignore flag for casadi Function wrapper accepting all the different input types.

[0.8.8] - 2023-10-24

Bug Fixes

• Fixes distance line to line clamping error.
• Fixes panda example for capsule cuboid geometry and adds corresponding tests. Still an issue with some capsules due to Jdot being nan.

Miscellaneous Tasks

• Adds depration to required dependencies.

WIP

• Panda dual arm.

Ft[coverage]

• Adds test for generic leaf and capsule cuboid leaf.

Ft[cuboids]

• Uncomments cuboid capsule related maps.

Ft[example]

• Restores simple panda example and adds simple dual vacuum example.

Ft[helpers]

• Adds helper function to compute rotation matrix.

Ft[rotation]

• Deprecates angle usage in subgoals.
• Changes panda examples to not use subgoal attribute angle anymore.

Ft[rotations]

• Idea on simplifying rotations is working :rocket.

[0.8.7] - 2023-09-29

Bug Fixes

• Fixes line to line and cuboid distances.

Ft[cpp-bridge]

• Adds some basic documentation.
• Adds commented line in panda example to export as c code.

Ft[cpp]

• Allows to export planner as c code. Adds example of how to use it.

Ft[distance]

• Changes line-to-line distance to a closed form solution rather than sampling.

Ft[distances]

• Adds sample-free distance computation for cuboids.

v0.8.9

Changelog

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

[unreleased]

Bug Fixes

• Fixes unit test for self collision avoidance.

Fix[selfcollision]

• Fixes #45 by adding variables names for self collision links.

[ft_base_prismatic]

• Add prismatic joint to panda
• Prismatic joint done

Ft[base_prismatic]

• Restores the list of end-links to ensure that constraints goals are respected.

Ft[selfcollision]

• Adds body radiusses in panda self collision example.

Ft[test]

• Adds ignore flag for casadi Function wrapper accepting all the different input types.

[0.8.8] - 2023-10-24

Bug Fixes

• Fixes distance line to line clamping error.
• Fixes panda example for capsule cuboid geometry and adds corresponding tests. Still an issue with some capsules due to Jdot being nan.

Miscellaneous Tasks

• Adds depration to required dependencies.

WIP

• Panda dual arm.

Ft[coverage]

• Adds test for generic leaf and capsule cuboid leaf.

Ft[cuboids]

• Uncomments cuboid capsule related maps.

Ft[example]

• Restores simple panda example and adds simple dual vacuum example.

Ft[helpers]

• Adds helper function to compute rotation matrix.

Ft[rotation]

• Deprecates angle usage in subgoals.
• Changes panda examples to not use subgoal attribute angle anymore.

Ft[rotations]

• Idea on simplifying rotations is working :rocket.

[0.8.7] - 2023-09-29

Bug Fixes

• Fixes line to line and cuboid distances.

Ft[cpp-bridge]

• Adds some basic documentation.
• Adds commented line in panda example to export as c code.

Ft[cpp]

• Allows to export planner as c code. Adds example of how to use it.

Ft[distance]

• Changes line-to-line distance to a closed form solution rather than sampling.

Ft[distances]

• Adds sample-free distance computation for cuboids.

v0.8.8

Changelog

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

[unreleased]

Bug Fixes

• Fixes distance line to line clamping error.
• Fixes panda example for capsule cuboid geometry and adds corresponding tests. Still an issue with some capsules due to Jdot being nan.

Miscellaneous Tasks

• Adds depration to required dependencies.

WIP

• Panda dual arm.

Ft[coverage]

• Adds test for generic leaf and capsule cuboid leaf.

Ft[cuboids]

• Uncomments cuboid capsule related maps.

Ft[example]

• Restores simple panda example and adds simple dual vacuum example.

Ft[helpers]

• Adds helper function to compute rotation matrix.

Ft[rotation]

• Deprecates angle usage in subgoals.
• Changes panda examples to not use subgoal attribute angle anymore.

Ft[rotations]

• Idea on simplifying rotations is working :rocket.

[0.8.7] - 2023-09-29

Bug Fixes

• Fixes line to line and cuboid distances.

Ft[cpp-bridge]

• Adds some basic documentation.
• Adds commented line in panda example to export as c code.

Ft[cpp]

• Allows to export planner as c code. Adds example of how to use it.

Ft[distance]

• Changes line-to-line distance to a closed form solution rather than sampling.

Ft[distances]

• Adds sample-free distance computation for cuboids.

v0.8.7

Changelog

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

[unreleased]

Bug Fixes

• Fixes line to line and cuboid distances.

Ft[cpp-bridge]

• Adds some basic documentation.
• Adds commented line in panda example to export as c code.

Ft[cpp]

• Allows to export planner as c code. Adds example of how to use it.

Ft[distance]

• Changes line-to-line distance to a closed form solution rather than sampling.

Ft[distances]

• Adds sample-free distance computation for cuboids.