Nightly Release

MPlib development nightly release. This release is mainly for internal testing. Stable releases are published to pypi https://pypi.org/p/mplib/

v0.2.1

Full Changelog: v0.2.0...v0.2.1

v0.2.0

What's Changed

• Update planner.py by @Lexseal in #70
• Merge from kolinguo/MPlib by @KolinGuo in #78
• Srdf generation by @Lexseal in #72
• One link multiple geom by @Lexseal in #77
• Add nonconvex mesh support in SapienPlanningWorld. Add SapienPlanner by @KolinGuo in #79
• Unify pose; Support multi-shape Physx components in SapienPlanningWorld conversion by @KolinGuo in #81
• Update fcl in Dockerfile by @KolinGuo in #82
• Update api. Support PhysxCollisionShapePlane conversion by @KolinGuo in #83
• Add support for multiple collision_shapes when exporting SRDF by @KolinGuo in #88

Full Changelog: v0.1.1...v0.2.0

v0.2.0a1

MPlib 0.2.0a1 Release Notes

What's Changed

• Add support for multiple collision_shapes when exporting SRDF by @KolinGuo in #88

Full Changelog: v0.2.0a0...v0.2.0a1

v0.2.0a0

MPlib 0.2.0a0 Release Notes

Functional Changes:

• Sapien world to MPlib planning world. You can now sync up Sapien with the planner without having to explicitly construct a planner. This obviates manually maintaining the planning world, which might be prone to mistakes.
• Ability to set global seed for easier debugging
• Enhanced attach object to avoid collision with links that might be in constant collision with it.
• Exported FCL distance query to python
• Exported FCL shapes Ellipsoid, Halfspace, and TriangleP
• Reworked srdf generations so users do not need to manually run Moveit Setup Assistant to generate an srdf.
• Added support for URDF files that has multiple collision geometries to a single link

API Changes:

+:

• set_global_seed() for easier debugging
• create_from_urdf_string for articulated model, fcl, and planning world
• get_name that returns the name of the articulated model
• set_name that sets the name of the articulated model
• Attached body class that stores where and how an object is attached to an articulation in a more structured manner. In particular, the touch link disables collision between the
• detach_object(name) to remove an attached object
• remove_point_cloud() to remove point cloud from the scene
• get_attached_object(name)
• is_normal_object_attached(name)
• AllowedCollisionMatrix class where pairwise collisions are disable if the entry is set to True
• get_allowed_collision_matrix to return a matrix.
• Added distance calls in PlanningWorld that has the same API as collision calls. They return distance result.
• WorldDistanceResult. Counterpart of WorldCollisionResult for distance.
• has_articulation(name)/has_normal_object(name)
• is_articulation_planned(name) checks if the articulation is the one the planner is planning for. We only plan for a single articulation.
• Ellipsoid, Halfspace, TriangleP collision geometries
• get_adjacent_links() returns all pairs of adjacent links
• SapienPlanningWorld class that takes in a Sapien Scene and constructs the same scene for planning
• SapienPlanner class that takes in a Sapien Scene and turns into a planner you can use directly
• update_from_simulation inside SapienPlanner and SapienPlanningWorld that can resync after the Sapien simulation has changed

modifications:

• Now pymp is not needed when importing a module/class. For example, from mplib.pymp.collision_detection import fcl is now from mplib.collision_detection import fcl
• All functions with arguments such as use_point_cloud, use_attach are modified to have these arguments removed. As mentioned in the next section, as long as there is a point cloud or an attach, they will be used
• set_normal_object is now add_normal_object
• get_articulations is replaced by get_articulation(name) as well as get_articulation_names()
• print_attached_body_pose() replaced by print_attached_body_pose()
• update_attached_tool() renamed to update_attached_object()
• FCL collision object is wrapped by FCLObject that can contain multiple collision geometries.
• OMPL.plan has the planner method removed. Argument no_simplication changed to simplify with its value flipped
• CollisionGeometry has all its methods renamed to lower camel case.
• Most if not all arguments with default values are now kw_only
• plan_qpos_to_pose, plan_qpos_to_qpos, plan_screw argument names are modified
• set_transformation -> set_pose for CollisionObject

-:

• set_use_attach removed. Instead, when there is attach, the planner will automatically use it
• set_use_pointcloud removed.

What's Changed

• Update planner.py by @Lexseal in #70
• Merge from kolinguo/MPlib by @KolinGuo in #78
• Srdf generation by @Lexseal in #72
• One link multiple geom by @Lexseal in #77
• Add nonconvex mesh support in SapienPlanningWorld. Add SapienPlanner by @KolinGuo in #79
• Unify pose; Support multi-shape Physx components in SapienPlanningWorld conversion by @KolinGuo in #81
• Update fcl in Dockerfile by @KolinGuo in #82
• Update api. Support PhysxCollisionShapePlane conversion by @KolinGuo in #83

Full Changelog: v0.1.1...v0.2.0a0

v0.1.1

What's Changed

• Kolin's massive code refactoring and build system overhaul
• Documentation and test cases
• Misc bug fixes

Full Changelog: v0.0.9...v0.1.1

v0.1.0

MPlib 0.1.0 Release Notes

Features:

• Path simplification added and its API exposed
• Better documentation on point cloud radius and how this param can be used to create a safety buffer for collision
• Added standalone collision checking API to planner.py
• Gave user the ability to add/remove non-articulated objects from the scene rather than relying solely on point cloud for changing scene
• Introduced an API to center the articulated model at a different origin. Future planning requests can either be specified w.r.t. new robot base or w.r.t. world
• Planning with certain joints fixed. This is useful if you want the planning to be done in stages where in one stage only certain joints should move
• General constrained planning for robots not having continuous joints. Pass in a constrained function as well as its jacobian and the planner will plan by projecting a proposed joint configuration into a feasible configuration with newton's method
• Documentation for all the mplib modules. We have already exposed a lot of the functionalities using pybind. However, previous these functionalities were not documented.
• Different messages are now printed with different colors. E.g. erros in red, info in blue, warning in yellow, etc.

There has also been misc bug fixes.

What's Changed

• Collision api by @Lexseal in #28
• added path simplification and ability to use RRT* by @Lexseal in #22
• Pointcloud volume by @Lexseal in #25
• Index out of range error by @Lexseal in #35
• Change Capsule to Cylinder by @Lexseal in #44
• Documentation by @Lexseal in #45
• Ability to modify the non-articulated objects in the scene by @Lexseal in #30
• setting origin for articulation by @Lexseal in #31
• expose path simplification api by @Lexseal in #48
• Constrained planning by @Lexseal in #46
• Added the ability to plan with certain joints fixed by @Lexseal in #29
• default to current dir if user does not provide any dir by @Lexseal in #50
• added warning for abnormally sized mesh by @Lexseal in #52

Full Changelog: v0.0.9...v0.1.0

v0.0.9

MPlib 0.0.9 Release Notes

python3.11 support

• added support for python3.10 and 3.11
• expanded the types of objects one can attach to an end-effector to include sphere and general mesh in addition to box
• improved user-facing collision API that is dead simple to use
• refactored demo and added new ones for easier onboarding
• added a workaround for ROS-compatible URDF that contains package:// keywords