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

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

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.

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