From 5c7ef8665eb4aa615f050081d055fcff645d1712 Mon Sep 17 00:00:00 2001
From: Max Spahn <m.spahn@tudelft.nl>
Date: Mon, 20 Mar 2023 12:17:59 +0100
Subject: [PATCH 1/5] Updates to newer version of urdfenvs.

---
 examples/jackal_robot.py               |  26 +-
 examples/panda_robot_with_obstacles.py |   7 +-
 examples/point_robot_with_obstacle.py  |   8 +-
 mppiisaac/planner/isaacgym_wrapper.py  |   7 +-
 poetry.lock                            | 747 ++++++++++++++-----------
 pyproject.toml                         |   8 +-
 6 files changed, 458 insertions(+), 345 deletions(-)

diff --git a/examples/jackal_robot.py b/examples/jackal_robot.py
index 42b45df..8b2c530 100644
--- a/examples/jackal_robot.py
+++ b/examples/jackal_robot.py
@@ -1,6 +1,6 @@
 import gym
 import numpy as np
-from urdfenvs.robots.jackal import JackalRobot
+from urdfenvs.robots.generic_urdf import GenericDiffDriveRobot
 from urdfenvs.urdf_common.urdf_env import UrdfEnv
 from mppiisaac.planner.mppi_isaac import MPPIisaacPlanner
 import hydra
@@ -11,7 +11,10 @@
 
 from mppiisaac.utils.config_store import ExampleConfig
 
-# MPPI to navigate a simple robot to a goal position
+urdf_file = (
+    os.path.dirname(os.path.abspath(__file__))
+    + "/../assets/urdf/jackal/jackal.urdf"
+)
 
 class Objective(object):
     def __init__(self, cfg, device):
@@ -39,9 +42,24 @@ def initalize_environment(cfg) -> UrdfEnv:
     """
     # urdf_file = os.path.dirname(os.path.abspath(__file__)) + "/../assets/urdf/" + cfg.urdf_file
     robots = [
-        JackalRobot(mode="vel"),
+        GenericDiffDriveRobot(
+            urdf="jackal.urdf",
+            mode="vel",
+            actuated_wheels=[
+                "rear_right_wheel",
+                "rear_left_wheel",
+                "front_right_wheel",
+                "front_left_wheel",
+            ],
+            castor_wheels=[],
+            wheel_radius = 0.098,
+            wheel_distance = 2 * 0.187795 + 0.08,
+        ),
     ]
-    env: UrdfEnv = gym.make("urdf-env-v0", dt=0.02, robots=robots, render=cfg.render)
+    env = gym.make(
+        "urdf-env-v0",
+        dt=0.01, robots=robots, render=render
+    )
     # Set the initial position and velocity of the jackal robot
     env.reset()
     goal_dict = {
diff --git a/examples/panda_robot_with_obstacles.py b/examples/panda_robot_with_obstacles.py
index 224a370..8886d11 100644
--- a/examples/panda_robot_with_obstacles.py
+++ b/examples/panda_robot_with_obstacles.py
@@ -63,7 +63,7 @@ def initalize_environment(cfg):
     robots = [
         GenericUrdfReacher(urdf=urdf_file, mode="vel"),
     ]
-    env: UrdfEnv = gym.make("urdf-env-v0", dt=0.01, robots=robots, render=cfg.render)
+    env: UrdfEnv = gym.make("urdf-env-v0", dt=0.01, robots=robots, render=cfg.render, observation_checking=False)
 
     # Set the initial position and velocity of the panda arm.
     env.reset()
@@ -97,9 +97,12 @@ def initalize_environment(cfg):
 
     # sense both
     sensor = FullSensor(
-        goal_mask=["position"], obstacle_mask=["position", "velocity", "type", "size"]
+        goal_mask=["position"],
+        obstacle_mask=["position", "velocity", "type", "size"],
+        variance=0.0,
     )
     env.add_sensor(sensor, [0])
+    env.set_spaces()
     return env
 
 
diff --git a/examples/point_robot_with_obstacle.py b/examples/point_robot_with_obstacle.py
index e9666c4..84b5414 100644
--- a/examples/point_robot_with_obstacle.py
+++ b/examples/point_robot_with_obstacle.py
@@ -65,7 +65,7 @@ def initalize_environment(cfg) -> UrdfEnv:
     robots = [
         GenericUrdfReacher(urdf=urdf_file, mode="vel"),
     ]
-    env: UrdfEnv = gym.make("urdf-env-v0", dt=0.05, robots=robots, render=cfg.render)
+    env: UrdfEnv = gym.make("urdf-env-v0", dt=0.05, robots=robots, render=cfg.render, observation_checking=False)
 
     # Set the initial position and velocity of the point mass.
     env.reset()
@@ -104,9 +104,12 @@ def initalize_environment(cfg) -> UrdfEnv:
 
     # sense both
     sensor = FullSensor(
-        goal_mask=["position"], obstacle_mask=["position", "velocity", "type", "size"]
+        goal_mask=["position"],
+        obstacle_mask=["position", "velocity", "type", "size"],
+        variance=0.0,
     )
     env.add_sensor(sensor, [0])
+    env.set_spaces()
 
     return env
 
@@ -147,6 +150,7 @@ def run_point_robot(cfg: ExampleConfig):
     """
     # Note: Workaround to trigger the dataclasses __post_init__ method
     cfg = OmegaConf.to_object(cfg)
+    OmegaConf.save(config=cfg, f='test.yaml')
 
     env = initalize_environment(cfg)
     planner = set_planner(cfg)
diff --git a/mppiisaac/planner/isaacgym_wrapper.py b/mppiisaac/planner/isaacgym_wrapper.py
index 0bbd2e5..57cdf39 100644
--- a/mppiisaac/planner/isaacgym_wrapper.py
+++ b/mppiisaac/planner/isaacgym_wrapper.py
@@ -360,8 +360,11 @@ def update_root_state_tensor_by_obstacles(self, obstacles):
         """
         env_cfg_changed = False
 
-        for i, obst in enumerate(obstacles):
-            pos, vel, o_type, o_size = obst
+        for i, obst in enumerate(list(obstacles.values())):
+            pos = obst['position']
+            vel = obst['velocity']
+            o_type = obst['type']
+            o_size = obst['size']
             name = f"{o_type}{i}"
             try:
                 obst_idx = [actor["name"] for actor in self.env_cfg].index(name)
diff --git a/poetry.lock b/poetry.lock
index 77d5226..6926122 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -13,14 +13,14 @@ files = [
 
 [[package]]
 name = "astroid"
-version = "2.14.1"
+version = "2.15.0"
 description = "An abstract syntax tree for Python with inference support."
 category = "dev"
 optional = false
 python-versions = ">=3.7.2"
 files = [
-    {file = "astroid-2.14.1-py3-none-any.whl", hash = "sha256:23c718921acab5f08cbbbe9293967f1f8fec40c336d19cd75dc12a9ea31d2eb2"},
-    {file = "astroid-2.14.1.tar.gz", hash = "sha256:bd1aa4f9915c98e8aaebcd4e71930154d4e8c9aaf05d35ac0a63d1956091ae3f"},
+    {file = "astroid-2.15.0-py3-none-any.whl", hash = "sha256:e3e4d0ffc2d15d954065579689c36aac57a339a4679a679579af6401db4d3fdb"},
+    {file = "astroid-2.15.0.tar.gz", hash = "sha256:525f126d5dc1b8b0b6ee398b33159105615d92dc4a17f2cd064125d57f6186fa"},
 ]
 
 [package.dependencies]
@@ -171,100 +171,87 @@ files = [
 
 [[package]]
 name = "charset-normalizer"
-version = "3.0.1"
+version = "3.1.0"
 description = "The Real First Universal Charset Detector. Open, modern and actively maintained alternative to Chardet."
 category = "main"
 optional = false
-python-versions = "*"
+python-versions = ">=3.7.0"
 files = [
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 ]
 
 [[package]]
@@ -286,7 +273,7 @@ colorama = {version = "*", markers = "platform_system == \"Windows\""}
 name = "cloudpickle"
 version = "2.2.1"
 description = "Extended pickling support for Python objects"
-category = "dev"
+category = "main"
 optional = false
 python-versions = ">=3.6"
 files = [
@@ -328,7 +315,7 @@ development = ["black", "flake8", "mypy", "pytest", "types-colorama"]
 name = "deprecation"
 version = "2.1.0"
 description = "A library to handle automated deprecations"
-category = "dev"
+category = "main"
 optional = false
 python-versions = "*"
 files = [
@@ -356,14 +343,14 @@ graph = ["objgraph (>=1.7.2)"]
 
 [[package]]
 name = "exceptiongroup"
-version = "1.1.0"
+version = "1.1.1"
 description = "Backport of PEP 654 (exception groups)"
 category = "main"
 optional = false
 python-versions = ">=3.7"
 files = [
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 ]
 
 [package.extras]
@@ -371,14 +358,14 @@ test = ["pytest (>=6)"]
 
 [[package]]
 name = "fabrics"
-version = "0.6.2"
+version = "0.6.3"
 description = "Optimization fabrics in python."
 category = "main"
 optional = false
 python-versions = ">=3.8,<3.10"
 files = [
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 ]
 
 [package.dependencies]
@@ -456,7 +443,7 @@ files = [
 name = "gym"
 version = "0.22.0"
 description = "Gym: A universal API for reinforcement learning environments."
-category = "dev"
+category = "main"
 optional = false
 python-versions = ">=3.7"
 files = [
@@ -484,7 +471,7 @@ toy-text = ["pygame (==2.1.0)", "scipy (>=1.4.1)"]
 name = "gym-notices"
 version = "0.0.8"
 description = "Notices for gym"
-category = "dev"
+category = "main"
 optional = false
 python-versions = "*"
 files = [
@@ -494,14 +481,14 @@ files = [
 
 [[package]]
 name = "hydra-core"
-version = "1.3.1"
+version = "1.3.2"
 description = "A framework for elegantly configuring complex applications"
 category = "main"
 optional = false
 python-versions = "*"
 files = [
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 ]
 
 [package.dependencies]
@@ -524,14 +511,14 @@ files = [
 
 [[package]]
 name = "imageio"
-version = "2.25.0"
+version = "2.26.0"
 description = "Library for reading and writing a wide range of image, video, scientific, and volumetric data formats."
 category = "main"
 optional = false
 python-versions = ">=3.7"
 files = [
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 ]
 
 [package.dependencies]
@@ -539,18 +526,17 @@ numpy = "*"
 pillow = ">=8.3.2"
 
 [package.extras]
-all-plugins = ["astropy", "av", "imageio-ffmpeg", "opencv-python", "psutil", "tifffile"]
+all-plugins = ["astropy", "av", "imageio-ffmpeg", "psutil", "tifffile"]
 all-plugins-pypy = ["av", "imageio-ffmpeg", "psutil", "tifffile"]
 build = ["wheel"]
 dev = ["black", "flake8", "fsspec[github]", "invoke", "pytest", "pytest-cov"]
 docs = ["numpydoc", "pydata-sphinx-theme", "sphinx (<6)"]
 ffmpeg = ["imageio-ffmpeg", "psutil"]
 fits = ["astropy"]
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+full = ["astropy", "av", "black", "flake8", "fsspec[github]", "gdal", "imageio-ffmpeg", "invoke", "itk", "numpydoc", "psutil", "pydata-sphinx-theme", "pytest", "pytest-cov", "sphinx (<6)", "tifffile", "wheel"]
 gdal = ["gdal"]
 itk = ["itk"]
 linting = ["black", "flake8"]
-opencv = ["opencv-python"]
 pyav = ["av"]
 test = ["fsspec[github]", "invoke", "pytest", "pytest-cov"]
 tifffile = ["tifffile"]
@@ -577,14 +563,14 @@ testing = ["flake8 (<5)", "flufl.flake8", "importlib-resources (>=1.3)", "packag
 
 [[package]]
 name = "importlib-resources"
-version = "5.10.2"
+version = "5.12.0"
 description = "Read resources from Python packages"
 category = "main"
 optional = false
 python-versions = ">=3.7"
 files = [
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 ]
 
 [package.dependencies]
@@ -936,18 +922,20 @@ files = [
 
 [[package]]
 name = "mpmath"
-version = "1.2.1"
+version = "1.3.0"
 description = "Python library for arbitrary-precision floating-point arithmetic"
 category = "main"
 optional = false
 python-versions = "*"
 files = [
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 ]
 
 [package.extras]
 develop = ["codecov", "pycodestyle", "pytest (>=4.6)", "pytest-cov", "wheel"]
+docs = ["sphinx"]
+gmpy = ["gmpy2 (>=2.1.0a4)"]
 tests = ["pytest (>=4.6)"]
 
 [[package]]
@@ -975,76 +963,87 @@ bullet = ["pybullet (>=3.2.3,<4.0.0)"]
 
 [[package]]
 name = "msgpack"
-version = "1.0.4"
+version = "1.0.5"
 description = "MessagePack serializer"
 category = "main"
 optional = false
 python-versions = "*"
 files = [
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 description = "Utility library for gitignore style pattern matching of file paths."
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 python-versions = ">=3.7"
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 [[package]]
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 python-versions = ">=3.7"
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+category = "dev"
+optional = false
+python-versions = ">=3.8,<3.10"
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+urdfenvs = ">=0.7.1,<0.8.0"
+
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+mpc = ["robotmpcs (>=0.2.1,<0.3.0)"]
+
 [[package]]
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 category = "dev"
 optional = false
 python-versions = ">=3.7"
 files = [
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+test = ["appdirs (==1.4.4)", "covdefaults (>=2.2.2)", "pytest (>=7.2.1)", "pytest-cov (>=4)", "pytest-mock (>=3.10)"]
 
 [[package]]
 name = "pluggy"
@@ -1414,11 +1443,26 @@ files = [
 dev = ["pre-commit", "tox"]
 testing = ["pytest", "pytest-benchmark"]
 
+[[package]]
+name = "pyaml"
+version = "21.10.1"
+description = "PyYAML-based module to produce pretty and readable YAML-serialized data"
+category = "dev"
+optional = false
+python-versions = "*"
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+[package.dependencies]
+PyYAML = "*"
+
 [[package]]
 name = "pybullet"
 version = "3.2.5"
 description = "Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning"
-category = "dev"
+category = "main"
 optional = false
 python-versions = "*"
 files = [
@@ -1452,18 +1496,18 @@ validation = ["lxml"]
 
 [[package]]
 name = "pylint"
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+version = "2.17.0"
 description = "python code static checker"
 category = "dev"
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 python-versions = ">=3.7.2"
 files = [
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 ]
 
 [package.dependencies]
-astroid = ">=2.14.1,<=2.16.0-dev0"
+astroid = ">=2.15.0,<=2.17.0-dev0"
 colorama = {version = ">=0.4.5", markers = "sys_platform == \"win32\""}
 dill = {version = ">=0.2", markers = "python_version < \"3.11\""}
 isort = ">=4.2.5,<6"
@@ -1536,14 +1580,14 @@ files = [
 
 [[package]]
 name = "pytest"
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+version = "7.2.2"
 description = "pytest: simple powerful testing with Python"
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 python-versions = ">=3.7"
 files = [
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 ]
 
 [package.dependencies]
@@ -1667,6 +1711,30 @@ urllib3 = ">=1.21.1,<1.27"
 socks = ["PySocks (>=1.5.6,!=1.5.7)"]
 use-chardet-on-py3 = ["chardet (>=3.0.2,<6)"]
 
+[[package]]
+name = "robotmpcs"
+version = "0.2.1"
+description = "MPC generation for robots using ForcesPro."
+category = "dev"
+optional = false
+python-versions = ">=3.8,<3.10"
+files = [
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+]
+
+[package.dependencies]
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+forwardkinematics = ">=1.1.1,<2.0.0"
+numpy = "<1.23"
+pyaml = ">=21.10.1,<22.0.0"
+requests = ">=2.27.1,<3.0.0"
+scipy = ">=1.5.0,<2.0.0"
+setuptools = ">=67.5.1,<68.0.0"
+
+[package.extras]
+agents = ["motion-planning-scenes (>=0.1,<0.2)", "planarenvs (>=1.0.3,<2.0.0)", "urdfenvs (>=0.2.2,<0.3.0)"]
+
 [[package]]
 name = "rtree"
 version = "1.0.1"
@@ -1724,33 +1792,33 @@ files = [
 
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 name = "scipy"
-version = "1.10.0"
+version = "1.10.1"
 description = "Fundamental algorithms for scientific computing in Python"
 category = "main"
 optional = false
 python-versions = "<3.12,>=3.8"
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+    {file = "scipy-1.10.1.tar.gz", hash = "sha256:2cf9dfb80a7b4589ba4c40ce7588986d6d5cebc5457cad2c2880f6bc2d42f3a5"},
 ]
 
 [package.dependencies]
@@ -1763,14 +1831,14 @@ test = ["asv", "gmpy2", "mpmath", "pooch", "pytest", "pytest-cov", "pytest-timeo
 
 [[package]]
 name = "setuptools"
-version = "67.1.0"
+version = "67.6.0"
 description = "Easily download, build, install, upgrade, and uninstall Python packages"
 category = "main"
 optional = false
 python-versions = ">=3.7"
 files = [
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+    {file = "setuptools-67.6.0-py3-none-any.whl", hash = "sha256:b78aaa36f6b90a074c1fa651168723acbf45d14cb1196b6f02c0fd07f17623b2"},
+    {file = "setuptools-67.6.0.tar.gz", hash = "sha256:2ee892cd5f29f3373097f5a814697e397cf3ce313616df0af11231e2ad118077"},
 ]
 
 [package.extras]
@@ -1981,14 +2049,14 @@ scipy = ["scipy"]
 
 [[package]]
 name = "trimesh"
-version = "3.18.3"
+version = "3.20.2"
 description = "Import, export, process, analyze and view triangular meshes."
 category = "main"
 optional = false
 python-versions = "*"
 files = [
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+    {file = "trimesh-3.20.2.tar.gz", hash = "sha256:ead4ab5a8be055311c7037a5505af0f04d6087288f994b040125bc9063d40613"},
 ]
 
 [package.dependencies]
@@ -2014,18 +2082,18 @@ xxhash = {version = "*", optional = true, markers = "extra == \"easy\""}
 [package.extras]
 all = ["chardet", "colorlog", "glooey", "jsonschema", "lxml", "mapbox-earcut", "meshio", "msgpack", "networkx", "pillow", "psutil", "pycollada", "pyglet (<2)", "python-fcl", "requests", "rtree", "scikit-image", "scipy", "setuptools", "shapely", "svg.path", "sympy", "xatlas", "xxhash"]
 easy = ["chardet", "colorlog", "jsonschema", "lxml", "mapbox-earcut", "msgpack", "networkx", "pillow", "pycollada", "requests", "rtree", "scipy", "setuptools", "shapely", "svg.path", "sympy", "xxhash"]
-test = ["autopep8", "coveralls", "ezdxf", "flake8", "flake8-no-implicit-concat", "flake8-pyproject", "pyinstrument", "pytest", "pytest-cov"]
+test = ["autopep8", "coveralls", "ezdxf", "pyinstrument", "pytest", "pytest-cov", "ruff"]
 
 [[package]]
 name = "typing-extensions"
-version = "4.4.0"
+version = "4.5.0"
 description = "Backported and Experimental Type Hints for Python 3.7+"
 category = "main"
 optional = false
 python-versions = ">=3.7"
 files = [
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 ]
 
 [[package]]
@@ -2045,14 +2113,14 @@ pyyaml = "*"
 
 [[package]]
 name = "urdfenvs"
-version = "0.6.0"
+version = "0.7.1"
 description = "Simple simulation environment for robots, based on the urdf files."
-category = "dev"
+category = "main"
 optional = false
 python-versions = ">=3.8,<4.0"
 files = [
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 ]
 
 [package.dependencies]
@@ -2065,14 +2133,14 @@ yourdfpy = ">=0.0.52,<0.0.53"
 
 [[package]]
 name = "urllib3"
-version = "1.26.14"
+version = "1.26.15"
 description = "HTTP library with thread-safe connection pooling, file post, and more."
 category = "main"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*, !=3.5.*"
 files = [
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 ]
 
 [package.extras]
@@ -2082,91 +2150,102 @@ socks = ["PySocks (>=1.5.6,!=1.5.7,<2.0)"]
 
 [[package]]
 name = "wheel"
-version = "0.38.4"
+version = "0.40.0"
 description = "A built-package format for Python"
 category = "main"
 optional = false
 python-versions = ">=3.7"
 files = [
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 ]
 
 [package.extras]
-test = ["pytest (>=3.0.0)"]
+test = ["pytest (>=6.0.0)"]
 
 [[package]]
 name = "wrapt"
-version = "1.14.1"
+version = "1.15.0"
 description = "Module for decorators, wrappers and monkey patching."
 category = "dev"
 optional = false
 python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,>=2.7"
 files = [
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+    {file = "wrapt-1.15.0-cp39-cp39-win_amd64.whl", hash = "sha256:eef4d64c650f33347c1f9266fa5ae001440b232ad9b98f1f43dfe7a79435c0a6"},
+    {file = "wrapt-1.15.0-py3-none-any.whl", hash = "sha256:64b1df0f83706b4ef4cfb4fb0e4c2669100fd7ecacfb59e091fad300d4e04640"},
+    {file = "wrapt-1.15.0.tar.gz", hash = "sha256:d06730c6aed78cee4126234cf2d071e01b44b915e725a6cb439a879ec9754a3a"},
 ]
 
 [[package]]
@@ -2300,21 +2379,21 @@ testing = ["pytest", "pytest-cov", "setuptools"]
 
 [[package]]
 name = "zipp"
-version = "3.12.0"
+version = "3.15.0"
 description = "Backport of pathlib-compatible object wrapper for zip files"
 category = "main"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "zipp-3.12.0-py3-none-any.whl", hash = "sha256:9eb0a4c5feab9b08871db0d672745b53450d7f26992fd1e4653aa43345e97b86"},
-    {file = "zipp-3.12.0.tar.gz", hash = "sha256:73efd63936398aac78fd92b6f4865190119d6c91b531532e798977ea8dd402eb"},
+    {file = "zipp-3.15.0-py3-none-any.whl", hash = "sha256:48904fc76a60e542af151aded95726c1a5c34ed43ab4134b597665c86d7ad556"},
+    {file = "zipp-3.15.0.tar.gz", hash = "sha256:112929ad649da941c23de50f356a2b5570c954b65150642bccdd66bf194d224b"},
 ]
 
 [package.extras]
 docs = ["furo", "jaraco.packaging (>=9)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
-testing = ["flake8 (<5)", "func-timeout", "jaraco.functools", "jaraco.itertools", "more-itertools", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=1.3)", "pytest-flake8", "pytest-mypy (>=0.9.1)"]
+testing = ["big-O", "flake8 (<5)", "jaraco.functools", "jaraco.itertools", "more-itertools", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=1.3)", "pytest-flake8", "pytest-mypy (>=0.9.1)"]
 
 [metadata]
 lock-version = "2.0"
 python-versions = "^3.8,<3.9"
-content-hash = "bf6574adb80a740dd35aea5a0cbe2542176a8a66d2c9111484e48cc4d7e6578b"
+content-hash = "198363c1ca14383fd38ebc3506a5f0b67cab4e6b5ed352e87df7cd0eb58e55fa"
diff --git a/pyproject.toml b/pyproject.toml
index bece189..e296cd8 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -19,6 +19,7 @@ ghalton = "^0.6.2"
 mpscenes = "^0.3.1"
 fabrics = "^0.6.2"
 yourdfpy = "^0.0.52"
+urdfenvs = "^0.7.1"
 
 [tool.poetry.group.dev]
 optional = true
@@ -26,7 +27,12 @@ optional = true
 [tool.poetry.group.dev.dependencies]
 pylint = "^2.16.1"
 black = "^23.1.0"
-urdfenvs = "^0.6.0"
+
+[tool.poetry.group.benchmark]
+optional = true
+
+[tool.poetry.group.benchmark.dependencies]
+plannerbenchmark = {version = "^1.1.1", extras = ["mpc"]}
 
 [build-system]
 requires = ["poetry-core"]

From f340f0a2cb7c1d50ed1c54dbe0e06140f9c8fcfe Mon Sep 17 00:00:00 2001
From: Max Spahn <m.spahn@tudelft.nl>
Date: Mon, 20 Mar 2023 12:21:35 +0100
Subject: [PATCH 2/5] ft[benchmark]: Adds first benchmark.

---
 benchmarks/point_robot/README.md              |  9 ++
 .../point_robot/mppi_planner/__init__.py      |  1 +
 .../mppi_planner/mppi_planner_wrapper.py      | 82 ++++++++++++++++++
 benchmarks/point_robot/results/.gitignore     |  2 +
 benchmarks/point_robot/setup/exp.yaml         | 86 +++++++++++++++++++
 benchmarks/point_robot/setup/fabric.yaml      | 24 ++++++
 benchmarks/point_robot/setup/mpc.yaml         | 14 +++
 benchmarks/point_robot/setup/mppi.yaml        | 58 +++++++++++++
 8 files changed, 276 insertions(+)
 create mode 100644 benchmarks/point_robot/README.md
 create mode 100644 benchmarks/point_robot/mppi_planner/__init__.py
 create mode 100644 benchmarks/point_robot/mppi_planner/mppi_planner_wrapper.py
 create mode 100644 benchmarks/point_robot/results/.gitignore
 create mode 100644 benchmarks/point_robot/setup/exp.yaml
 create mode 100644 benchmarks/point_robot/setup/fabric.yaml
 create mode 100644 benchmarks/point_robot/setup/mpc.yaml
 create mode 100644 benchmarks/point_robot/setup/mppi.yaml

diff --git a/benchmarks/point_robot/README.md b/benchmarks/point_robot/README.md
new file mode 100644
index 0000000..669d664
--- /dev/null
+++ b/benchmarks/point_robot/README.md
@@ -0,0 +1,9 @@
+# Benchmark for point robot
+
+If you want to compare mppi to other planners, you can use plannerbenchmark.
+As mppi is not part of the standard planners, you must export the following
+variable.
+
+```bash
+export LOCAL_PLANNER_BENCH_CUSTOM=/path/to/mppi_isaac/benchmarks/point_robot/mppi_planner 
+```
diff --git a/benchmarks/point_robot/mppi_planner/__init__.py b/benchmarks/point_robot/mppi_planner/__init__.py
new file mode 100644
index 0000000..4c89e6c
--- /dev/null
+++ b/benchmarks/point_robot/mppi_planner/__init__.py
@@ -0,0 +1 @@
+from .mppi_planner_wrapper import MPPIPlanner
diff --git a/benchmarks/point_robot/mppi_planner/mppi_planner_wrapper.py b/benchmarks/point_robot/mppi_planner/mppi_planner_wrapper.py
new file mode 100644
index 0000000..bbf0730
--- /dev/null
+++ b/benchmarks/point_robot/mppi_planner/mppi_planner_wrapper.py
@@ -0,0 +1,82 @@
+from omegaconf import OmegaConf
+from plannerbenchmark.generic.planner import Planner
+from mppiisaac.planner.isaacgym_wrapper import IsaacGymWrapper
+from mppiisaac.planner.mppi_isaac import MPPIisaacPlanner
+
+import torch
+
+class Objective(object):
+    def __init__(self, goal, device):
+        self.nav_goal = torch.tensor(goal, device=device)
+
+        self.w_nav = 1.0
+        self.w_obs = 0.5
+
+    def compute_cost(self, sim: IsaacGymWrapper):
+        dof_state = sim.dof_state
+        pos = torch.cat((dof_state[:, 0].unsqueeze(1), dof_state[:, 2].unsqueeze(1)), 1)
+        obs_positions = sim.obstacle_positions
+
+        nav_cost = torch.clamp(
+            torch.linalg.norm(pos - self.nav_goal, axis=1) - 0.05, min=0, max=1999
+        )
+
+        # sim.gym.refresh_net_contact_force_tensor(sim.sim)
+        # sim.net_cf
+
+        # This can cause steady state error if the goal is close to an obstacle, better use contact forces later on
+        obs_cost = torch.sum(
+            1 / torch.linalg.norm(obs_positions[:, :, :2] - pos.unsqueeze(1), axis=2),
+            axis=1,
+        )
+
+        return nav_cost * self.w_nav + obs_cost * self.w_obs
+
+
+
+class MPPIPlanner(Planner):
+
+    def __init__(self, exp, **kwargs):
+        super().__init__(exp, **kwargs)
+        self.cfg = kwargs['config']
+        self._config = OmegaConf.create(kwargs)
+
+        self.reset()
+
+    def setJointLimits(self, limits):
+        self._limits = limits
+
+    def setGoal(self, motionPlanningGoal):
+        cfg = OmegaConf.create(self.cfg)
+        goal_position = motionPlanningGoal.sub_goals()[0].position()
+        objective = Objective(goal_position, cfg.mppi.device)
+        if not hasattr(self, '_planner'):
+            self._planner = MPPIisaacPlanner(cfg, objective)
+
+
+    def setSelfCollisionAvoidance(self, r_body):
+        pass
+
+    def setObstacles(self, obstacles, r_body):
+        pass
+
+    def concretize(self):
+        pass
+
+    def save(self, folderPath):
+        file_name = folderPath + "/planner.yaml"
+        OmegaConf.save(config=self._config, f=file_name)
+
+    def computeAction(self, **kwargs):
+        ob = kwargs
+        obst = ob["FullSensor"]["obstacles"]
+        for o in obst.values():
+            o['type'] = 'sphere'
+
+        action = self._planner.compute_action(
+            q=ob["joint_state"]["position"],
+            qdot=ob["joint_state"]["velocity"],
+            obst=obst,
+        )
+        return action.numpy()
+
diff --git a/benchmarks/point_robot/results/.gitignore b/benchmarks/point_robot/results/.gitignore
new file mode 100644
index 0000000..d6b7ef3
--- /dev/null
+++ b/benchmarks/point_robot/results/.gitignore
@@ -0,0 +1,2 @@
+*
+!.gitignore
diff --git a/benchmarks/point_robot/setup/exp.yaml b/benchmarks/point_robot/setup/exp.yaml
new file mode 100644
index 0000000..04f8f86
--- /dev/null
+++ b/benchmarks/point_robot/setup/exp.yaml
@@ -0,0 +1,86 @@
+T: 300
+dynamic: False
+dt: 0.05
+root_link : "world"
+base_type: "holonomic"
+urdf_file_name : "point_robot.urdf"
+ee_links: 
+  - 'base_link'
+control_mode: 'vel'
+n: 3
+goal:
+  subgoal0:
+    is_primary_goal: True
+    weight: 1
+    indices:
+      - 0
+      - 1
+    parent_link: "world_link"
+    child_link: "base_link"
+    desired_position:
+      - 4.5
+      - 0.2
+    low:
+      - -5.0
+      - -5.0
+    high: 
+      - 5.0
+      - 5.0
+    type: staticSubGoal
+    epsilon: 0.1
+initState:
+  q0:
+    - 0.1
+    - 0.0
+    - 0.0
+  q0dot:
+    - 0.0
+    - 0.0
+    - 0.0
+limits:
+  low:
+    - -5.0
+    - -5.0
+    - -5.0
+  high:
+    - 5.0
+    - 5.0
+    - 5.0
+r_body: 0.2
+randomObstacles:
+  number: 3
+obstacles:
+  obst0:
+    type: sphere
+    geometry:
+      position: 
+        - 2.0
+        - 0.4
+        - 0.0
+      radius: 0.7
+    low:
+      position:
+        - 1.0
+        - -1.0
+        - 0.0
+      radius: 0.1
+    high:
+      position:
+        - 3.0
+        - 1.0
+        - 0.0
+      radius: 0.5
+  obst1:
+    type: sphere
+    geometry:
+      position: 
+        - 20.4
+        - 0.4
+        - 0.0
+      radius: 1.0
+selfCollision:
+  pairs:
+collision_links:
+  - 'base_link'
+    
+
diff --git a/benchmarks/point_robot/setup/fabric.yaml b/benchmarks/point_robot/setup/fabric.yaml
new file mode 100644
index 0000000..34741a9
--- /dev/null
+++ b/benchmarks/point_robot/setup/fabric.yaml
@@ -0,0 +1,24 @@
+interval: 1
+name: fabric
+n: 3
+m_base: 0.2
+obst:
+  exp: 1.0
+  lam: 1.0
+selfCol:
+  exp: 1.0
+  lam: 2.0
+attractor:
+  k_psi: 1.0
+speed:
+  ex_factor: 5.0
+limits:
+  lam: 10.0
+  exp: 3.0
+damper:
+  r_d: 0.80
+  b: 
+   - 0.1
+   - 6.5
+dynamic: False
+
diff --git a/benchmarks/point_robot/setup/mpc.yaml b/benchmarks/point_robot/setup/mpc.yaml
new file mode 100644
index 0000000..4a0933e
--- /dev/null
+++ b/benchmarks/point_robot/setup/mpc.yaml
@@ -0,0 +1,14 @@
+time_horizon: 10
+time_step: 0.5
+interval: 10
+n: 3
+number_obstacles: 5
+name: forcesprompc
+model_name: po1nt_robot
+slack: False
+weights:
+  ws: 1e10
+  wu: 1.0
+  wvel: 1.0
+  wx: 1.5
+  wobst: 0.02
diff --git a/benchmarks/point_robot/setup/mppi.yaml b/benchmarks/point_robot/setup/mppi.yaml
new file mode 100644
index 0000000..0863d2f
--- /dev/null
+++ b/benchmarks/point_robot/setup/mppi.yaml
@@ -0,0 +1,58 @@
+name: mppi
+config:
+  render: true
+  n_steps: 1000
+  mppi:
+    num_samples: 100
+    horizon: 20
+    mppi_mode: halton-spline
+    sampling_method: halton
+    noise_sigma:
+    - - 1.0
+      - 0.0
+      - 0.0
+    - - 0.0
+      - 1.0
+      - 0.0
+    - - 0.0
+      - 0.0
+      - 1.0
+    noise_mu: null
+    device: cuda:0
+    lambda_: 0.1
+    update_lambda: false
+    update_cov: false
+    u_min:
+    - -1.5
+    u_max:
+    - 1.5
+    u_init: 0.0
+    U_init: null
+    u_scale: 1.0
+    u_per_command: 1
+    rollout_var_discount: 0.95
+    sample_null_action: true
+    noise_abs_cost: false
+    filter_u: true
+    use_priors: true
+  isaacgym:
+    dt: 0.05
+    substeps: 2
+    use_gpu_pipeline: true
+    num_client_threads: 0
+    viewer: false
+    num_obstacles: 10
+    spacing: 6.0
+  goal:
+  - 2.0
+  - 2.0
+  nx: 6
+  urdf_file: point_robot.urdf
+  fix_base: true
+  flip_visual: false
+  disable_gravity: false
+  differential_drive: false
+  wheel_base: 0.0
+  wheel_radius: 0.0
+  wheel_count: 0
+  ee_link: null

From 2ecd1c4704b788c4d230f720729f62746748cea4 Mon Sep 17 00:00:00 2001
From: cpezzato <cpezzato95@gmail.com>
Date: Fri, 24 Mar 2023 10:44:34 +0100
Subject: [PATCH 3/5] better mppi tuning

---
 .../point_robot/mppi_planner/mppi_planner_wrapper.py   |  6 +++---
 benchmarks/point_robot/setup/mppi.yaml                 | 10 +++++-----
 2 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/benchmarks/point_robot/mppi_planner/mppi_planner_wrapper.py b/benchmarks/point_robot/mppi_planner/mppi_planner_wrapper.py
index bbf0730..71a65ef 100644
--- a/benchmarks/point_robot/mppi_planner/mppi_planner_wrapper.py
+++ b/benchmarks/point_robot/mppi_planner/mppi_planner_wrapper.py
@@ -9,8 +9,8 @@ class Objective(object):
     def __init__(self, goal, device):
         self.nav_goal = torch.tensor(goal, device=device)
 
-        self.w_nav = 1.0
-        self.w_obs = 0.5
+        self.w_nav = 2.0
+        self.w_obs = 1
 
     def compute_cost(self, sim: IsaacGymWrapper):
         dof_state = sim.dof_state
@@ -18,7 +18,7 @@ def compute_cost(self, sim: IsaacGymWrapper):
         obs_positions = sim.obstacle_positions
 
         nav_cost = torch.clamp(
-            torch.linalg.norm(pos - self.nav_goal, axis=1) - 0.05, min=0, max=1999
+            torch.linalg.norm(pos - self.nav_goal, axis=1), min=0, max=1999
         )
 
         # sim.gym.refresh_net_contact_force_tensor(sim.sim)
diff --git a/benchmarks/point_robot/setup/mppi.yaml b/benchmarks/point_robot/setup/mppi.yaml
index 0863d2f..2559b7f 100644
--- a/benchmarks/point_robot/setup/mppi.yaml
+++ b/benchmarks/point_robot/setup/mppi.yaml
@@ -4,7 +4,7 @@ config:
   n_steps: 1000
   mppi:
     num_samples: 100
-    horizon: 20
+    horizon: 12
     mppi_mode: halton-spline
     sampling_method: halton
     noise_sigma:
@@ -23,21 +23,21 @@ config:
     update_lambda: false
     update_cov: false
     u_min:
-    - -1.5
+    - -2
     u_max:
-    - 1.5
+    - 2
     u_init: 0.0
     U_init: null
     u_scale: 1.0
     u_per_command: 1
-    rollout_var_discount: 0.95
+    rollout_var_discount: 0.99
     sample_null_action: true
     noise_abs_cost: false
     filter_u: true
     use_priors: true
   isaacgym:
     dt: 0.05
-    substeps: 2
+    substeps: 1
     use_gpu_pipeline: true
     num_client_threads: 0
     viewer: false

From 2b310767403b975e740af22cc1636c6475701981 Mon Sep 17 00:00:00 2001
From: Max Spahn <m.spahn@tudelft.nl>
Date: Wed, 26 Apr 2023 12:10:08 +0200
Subject: [PATCH 4/5] ft[benchmark]: Adds wrapper and cases for panda arm and
 point robot.

---
 benchmarks/panda_arm/.gitignore               |   1 +
 benchmarks/panda_arm/mppi_planner/__init__.py |   1 +
 .../mppi_planner/mppi_planner_wrapper.py      | 132 ++++++
 benchmarks/panda_arm/results/.gitignore       |   1 +
 benchmarks/panda_arm/setup/acados_mpc.yaml    |   7 +
 benchmarks/panda_arm/setup/exp.yaml           | 108 +++++
 benchmarks/panda_arm/setup/fabric.yaml        |  25 ++
 benchmarks/panda_arm/setup/mpc.yaml           |  13 +
 benchmarks/panda_arm/setup/mppi.yaml          | 102 +++++
 .../mppi_planner/mppi_planner_wrapper.py      |  33 +-
 benchmarks/point_robot/setup/exp.yaml         |   2 +-
 benchmarks/point_robot/setup/mpc.yaml         |   2 +-
 benchmarks/point_robot/setup/mppi.yaml        |   2 +
 poetry.lock                                   | 408 ++++--------------
 pyproject.toml                                |   1 +
 15 files changed, 511 insertions(+), 327 deletions(-)
 create mode 100644 benchmarks/panda_arm/.gitignore
 create mode 100644 benchmarks/panda_arm/mppi_planner/__init__.py
 create mode 100644 benchmarks/panda_arm/mppi_planner/mppi_planner_wrapper.py
 create mode 100644 benchmarks/panda_arm/results/.gitignore
 create mode 100644 benchmarks/panda_arm/setup/acados_mpc.yaml
 create mode 100644 benchmarks/panda_arm/setup/exp.yaml
 create mode 100644 benchmarks/panda_arm/setup/fabric.yaml
 create mode 100644 benchmarks/panda_arm/setup/mpc.yaml
 create mode 100644 benchmarks/panda_arm/setup/mppi.yaml

diff --git a/benchmarks/panda_arm/.gitignore b/benchmarks/panda_arm/.gitignore
new file mode 100644
index 0000000..73c8fe6
--- /dev/null
+++ b/benchmarks/panda_arm/.gitignore
@@ -0,0 +1 @@
+jit_*
diff --git a/benchmarks/panda_arm/mppi_planner/__init__.py b/benchmarks/panda_arm/mppi_planner/__init__.py
new file mode 100644
index 0000000..4c89e6c
--- /dev/null
+++ b/benchmarks/panda_arm/mppi_planner/__init__.py
@@ -0,0 +1 @@
+from .mppi_planner_wrapper import MPPIPlanner
diff --git a/benchmarks/panda_arm/mppi_planner/mppi_planner_wrapper.py b/benchmarks/panda_arm/mppi_planner/mppi_planner_wrapper.py
new file mode 100644
index 0000000..023105d
--- /dev/null
+++ b/benchmarks/panda_arm/mppi_planner/mppi_planner_wrapper.py
@@ -0,0 +1,132 @@
+from omegaconf import OmegaConf
+from plannerbenchmark.generic.planner import Planner
+from mppiisaac.planner.isaacgym_wrapper import IsaacGymWrapper
+from mppiisaac.planner.mppi_isaac import MPPIisaacPlanner
+
+import torch
+
+class ObjectiveOld(object):
+    def __init__(self, goal, device):
+        self.nav_goal = torch.tensor(goal, device=device)
+
+        self.w_nav = 2.0
+        self.w_obs = 1
+
+    def compute_cost(self, sim: IsaacGymWrapper):
+        dof_state = sim.dof_state
+        pos = torch.cat((dof_state[:, 0].unsqueeze(1), dof_state[:, 2].unsqueeze(1)), 1)
+        obs_positions = sim.obstacle_positions
+
+        nav_cost = torch.clamp(
+            torch.linalg.norm(pos - self.nav_goal, axis=1), min=0, max=1999
+        )
+
+        # sim.gym.refresh_net_contact_force_tensor(sim.sim)
+        # sim.net_cf
+
+        # This can cause steady state error if the goal is close to an obstacle, better use contact forces later on
+        obs_cost = torch.sum(
+            1 / torch.linalg.norm(obs_positions[:, :, :2] - pos.unsqueeze(1), axis=2),
+            axis=1,
+        )
+
+        return nav_cost * self.w_nav + obs_cost * self.w_obs
+
+class Objective(object):
+    def __init__(self, goal, device):
+        self.nav_goal = torch.tensor(goal, device=device)
+
+        self.w_nav = 1.0
+        self.w_obs = 0.5
+
+    def compute_cost(self, sim: IsaacGymWrapper):
+        dof_state = sim.dof_state
+        pos = torch.cat((dof_state[:, 0].unsqueeze(1), dof_state[:, 2].unsqueeze(1)), 1)
+        obs_positions = sim.obstacle_positions
+
+        nav_cost = torch.clamp(
+            torch.linalg.norm(pos - self.nav_goal, axis=1) - 0.05, min=0, max=1999
+        )
+
+        # sim.gym.refresh_net_contact_force_tensor(sim.sim)
+        # sim.net_cf
+
+        # This can cause steady state error if the goal is close to an obstacle, better use contact forces later on
+        obs_cost = torch.sum(
+            1 / torch.linalg.norm(obs_positions[:, :, :2] - pos.unsqueeze(1), axis=2),
+            axis=1,
+        )
+
+        return nav_cost * self.w_nav + obs_cost * self.w_obs
+
+class EndEffectorGoalObjective(object):
+    def __init__(self, goal, device):
+        self.nav_goal = torch.tensor(goal, device=device)
+        self.ort_goal = torch.tensor([1, 0, 0, 0], device=device)
+
+    def compute_cost(self, sim):
+        pos = sim.rigid_body_state[:, sim.robot_rigid_body_ee_idx, :3]
+        ort = sim.rigid_body_state[:, sim.robot_rigid_body_ee_idx, 3:7]
+        # dof_states = gym.acquire_dof_state_tensor(sim)
+
+        reach_cost = torch.linalg.norm(pos - self.nav_goal, axis=1)
+        align_cost = torch.linalg.norm(ort - self.ort_goal, axis=1)
+        return 10 * reach_cost + align_cost
+        # return torch.clamp(
+        #     torch.linalg.norm(pos - self.nav_goal, axis=1) - 0.05, min=0, max=1999
+        # )
+
+
+
+
+
+class MPPIPlanner(Planner):
+
+    def __init__(self, exp, **kwargs):
+        super().__init__(exp, **kwargs)
+        self.cfg = kwargs['config']
+        initial_actor_position = exp.initState()[0].tolist() 
+        initial_actor_position[2] += 0.05
+        initial_actor_position = [0.0, 0.0, 0.05]
+        self.cfg['initial_actor_positions'] = [initial_actor_position]
+        self._config = OmegaConf.create(kwargs)
+
+        self.reset()
+
+    def setJointLimits(self, limits):
+        self._limits = limits
+
+    def setGoal(self, motionPlanningGoal):
+        cfg = OmegaConf.create(self.cfg)
+        goal_position = motionPlanningGoal.sub_goals()[0].position()
+        objective = EndEffectorGoalObjective(goal_position, cfg.mppi.device)
+        if not hasattr(self, '_planner'):
+            self._planner = MPPIisaacPlanner(cfg, objective)
+
+
+    def setSelfCollisionAvoidance(self, r_body):
+        pass
+
+    def setObstacles(self, obstacles, r_body):
+        pass
+
+    def concretize(self):
+        pass
+
+    def save(self, folderPath):
+        file_name = folderPath + "/planner.yaml"
+        OmegaConf.save(config=self._config, f=file_name)
+
+    def computeAction(self, **kwargs):
+        ob = kwargs
+        obst = ob["FullSensor"]["obstacles"]
+        for o in obst.values():
+            o['type'] = 'sphere'
+
+        action = self._planner.compute_action(
+            q=ob["joint_state"]["position"],
+            qdot=ob["joint_state"]["velocity"],
+            obst=obst,
+        )
+        return action.numpy()
+
diff --git a/benchmarks/panda_arm/results/.gitignore b/benchmarks/panda_arm/results/.gitignore
new file mode 100644
index 0000000..150f68c
--- /dev/null
+++ b/benchmarks/panda_arm/results/.gitignore
@@ -0,0 +1 @@
+*/*
diff --git a/benchmarks/panda_arm/setup/acados_mpc.yaml b/benchmarks/panda_arm/setup/acados_mpc.yaml
new file mode 100644
index 0000000..ac123bf
--- /dev/null
+++ b/benchmarks/panda_arm/setup/acados_mpc.yaml
@@ -0,0 +1,7 @@
+name: AcadosMpc
+N: 20
+w_pos: 4.0
+w_coll: 0.00
+w_input: 0.01
+w_joints: [0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01]
+w_vref: 5.0
diff --git a/benchmarks/panda_arm/setup/exp.yaml b/benchmarks/panda_arm/setup/exp.yaml
new file mode 100644
index 0000000..35b2c4c
--- /dev/null
+++ b/benchmarks/panda_arm/setup/exp.yaml
@@ -0,0 +1,108 @@
+T: 2000
+dt: 0.01
+urdf_file_name: "panda.urdf"
+base_type: "holonomic"
+root_link : "panda_link0"
+control_mode: 'acc'
+ee_links:
+  - "panda_link7"
+robot_type: panda
+n: 7
+goal:
+  subgoal1:
+    is_primary_goal: True
+    weight: 1
+    indices:
+      - 0
+      - 1
+      - 2
+    parent_link: "panda_link0"
+    child_link: "panda_link7"
+    desired_position:
+      - 0.5
+      - -0.4
+      - 0.3
+    low:
+      - -0.4
+      - -0.4
+      - 0.1
+    high: 
+      - 0.7
+      - 0.0
+      - 1.1
+    type: staticSubGoal
+    epsilon: 0.05
+initState:
+  q0: 
+    - 1.0
+    - 0.0
+    - 0.0
+    - -1.50
+    - 0.0
+    - 1.8675
+    - 0.0
+  q0dot:
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+limits:
+  low: 
+    - -2.8973
+    - -1.7628
+    - -2.8973
+    - -3.0718
+    - -2.8973
+    - -0.0175
+    - -2.8973
+  high:
+    - 2.8973
+    - 1.7628
+    - 2.8973
+    - 0.0698
+    - 2.8973
+    - 3.7525
+    - 2.8973
+r_body: 0.15
+selfCollision:
+  pairs:
+    - ["panda_link0", "panda_link6"]
+    - ["panda_link0", "panda_link7"]
+    - ["panda_link1", "panda_link6"]
+    - ["panda_link1", "panda_link7"]
+    - ["panda_link2", "panda_link6"]
+    - ["panda_link2", "panda_link7"]
+collision_links:
+  - "panda_link2"
+  - "panda_link3"
+  - "panda_link5"
+  - "panda_link7"
+obstacles:
+  obst0:
+    geometry:
+      position:
+        - 0.5
+        - 0.0
+        - 0.6
+      radius: 0.15
+    type: sphere
+    high:
+      position:
+        - 1.0
+        - 1.0
+        - 1.0
+      radius:
+        0.3
+    low:
+      position:
+        - 0.0
+        - -1.0
+        - 0.0
+      radius:
+        0.1
+randomObstacles:
+  number: 5
+
diff --git a/benchmarks/panda_arm/setup/fabric.yaml b/benchmarks/panda_arm/setup/fabric.yaml
new file mode 100644
index 0000000..118fe81
--- /dev/null
+++ b/benchmarks/panda_arm/setup/fabric.yaml
@@ -0,0 +1,25 @@
+interval: 1
+name: fabric
+robot_type: simPanda
+n: 7
+m_base: 1.0
+obst:
+  exp: 1.0
+  lam: 1.0
+selfCol:
+  exp: 3.0
+  lam: 2.0
+attractor:
+  k_psi: 2.0
+limits:
+  exp: 1.0
+  lam: 1.0
+speed:
+  ex_factor: 1.0
+damper:
+  r_d: 0.05
+  b:
+    - 0.01
+    - 3.5
+dynamic: False
+
diff --git a/benchmarks/panda_arm/setup/mpc.yaml b/benchmarks/panda_arm/setup/mpc.yaml
new file mode 100644
index 0000000..d18631e
--- /dev/null
+++ b/benchmarks/panda_arm/setup/mpc.yaml
@@ -0,0 +1,13 @@
+time_horizon: 30
+time_step: 0.1
+interval: 10
+n: 7
+number_obstacles: 5
+slack: true
+name: forcesprompc
+model_name: panda
+weights:
+  ws: 1e10
+  wu: 1.0
+  wvel: 1.0
+  wx: 10.0
diff --git a/benchmarks/panda_arm/setup/mppi.yaml b/benchmarks/panda_arm/setup/mppi.yaml
new file mode 100644
index 0000000..d3bfa02
--- /dev/null
+++ b/benchmarks/panda_arm/setup/mppi.yaml
@@ -0,0 +1,102 @@
+name: mppi
+config:
+  render: true
+  n_steps: 1000
+  mppi:
+    num_samples: 100
+    horizon: 12
+    mppi_mode: halton-spline
+    sampling_method: halton
+    noise_sigma:
+    - - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+    - - 0.0
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+    - - 0.0
+      - 0.0
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+    - - 0.0
+      - 0.0
+      - 0.0
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+    - - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 1.0
+      - 0.0
+      - 0.0
+    - - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 1.0
+      - 0.0
+    - - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 1.0
+    noise_mu: null
+    device: cuda:0
+    lambda_: 0.1
+    update_lambda: false
+    update_cov: false
+    u_min:
+    - -2
+    u_max:
+    - 2
+    u_init: 0.0
+    U_init: null
+    u_scale: 1.0
+    u_per_command: 1
+    rollout_var_discount: 0.99
+    sample_null_action: true
+    noise_abs_cost: false
+    filter_u: true
+    use_priors: true
+  isaacgym:
+    dt: 0.05
+    substeps: 1
+    use_gpu_pipeline: true
+    num_client_threads: 0
+    viewer: false
+    num_obstacles: 10
+    spacing: 6.0
+  goal:
+  - 2.0
+  - 2.0
+  nx: 6
+  urdf_file: point_robot.urdf
+  fix_base: true
+  flip_visual: false
+  disable_gravity: false
+  differential_drive: false
+  wheel_base: 0.0
+  wheel_radius: 0.0
+  wheel_count: 0
+  ee_link: null
+  actors:
+    - 'panda'
+    - 'xaxis'
+    - 'yaxis'
diff --git a/benchmarks/point_robot/mppi_planner/mppi_planner_wrapper.py b/benchmarks/point_robot/mppi_planner/mppi_planner_wrapper.py
index 71a65ef..41da2dd 100644
--- a/benchmarks/point_robot/mppi_planner/mppi_planner_wrapper.py
+++ b/benchmarks/point_robot/mppi_planner/mppi_planner_wrapper.py
@@ -5,7 +5,7 @@
 
 import torch
 
-class Objective(object):
+class ObjectiveOld(object):
     def __init__(self, goal, device):
         self.nav_goal = torch.tensor(goal, device=device)
 
@@ -32,6 +32,34 @@ def compute_cost(self, sim: IsaacGymWrapper):
 
         return nav_cost * self.w_nav + obs_cost * self.w_obs
 
+class Objective(object):
+    def __init__(self, goal, device):
+        self.nav_goal = torch.tensor(goal, device=device)
+
+        self.w_nav = 1.0
+        self.w_obs = 0.5
+
+    def compute_cost(self, sim: IsaacGymWrapper):
+        dof_state = sim.dof_state
+        pos = torch.cat((dof_state[:, 0].unsqueeze(1), dof_state[:, 2].unsqueeze(1)), 1)
+        obs_positions = sim.obstacle_positions
+
+        nav_cost = torch.clamp(
+            torch.linalg.norm(pos - self.nav_goal, axis=1) - 0.05, min=0, max=1999
+        )
+
+        # sim.gym.refresh_net_contact_force_tensor(sim.sim)
+        # sim.net_cf
+
+        # This can cause steady state error if the goal is close to an obstacle, better use contact forces later on
+        obs_cost = torch.sum(
+            1 / torch.linalg.norm(obs_positions[:, :, :2] - pos.unsqueeze(1), axis=2),
+            axis=1,
+        )
+
+        return nav_cost * self.w_nav + obs_cost * self.w_obs
+
+
 
 
 class MPPIPlanner(Planner):
@@ -39,6 +67,9 @@ class MPPIPlanner(Planner):
     def __init__(self, exp, **kwargs):
         super().__init__(exp, **kwargs)
         self.cfg = kwargs['config']
+        initial_actor_position = exp.initState()[0].tolist() 
+        initial_actor_position[2] += 0.05
+        self.cfg['initial_actor_positions'] = [initial_actor_position]
         self._config = OmegaConf.create(kwargs)
 
         self.reset()
diff --git a/benchmarks/point_robot/setup/exp.yaml b/benchmarks/point_robot/setup/exp.yaml
index 04f8f86..2712e38 100644
--- a/benchmarks/point_robot/setup/exp.yaml
+++ b/benchmarks/point_robot/setup/exp.yaml
@@ -1,4 +1,4 @@
-T: 300
+T: 800
 dynamic: False
 dt: 0.05
 root_link : "world"
diff --git a/benchmarks/point_robot/setup/mpc.yaml b/benchmarks/point_robot/setup/mpc.yaml
index 4a0933e..8183b07 100644
--- a/benchmarks/point_robot/setup/mpc.yaml
+++ b/benchmarks/point_robot/setup/mpc.yaml
@@ -11,4 +11,4 @@ weights:
   wu: 1.0
   wvel: 1.0
   wx: 1.5
-  wobst: 0.02
+  wobst: 0.2
diff --git a/benchmarks/point_robot/setup/mppi.yaml b/benchmarks/point_robot/setup/mppi.yaml
index 2559b7f..4feb028 100644
--- a/benchmarks/point_robot/setup/mppi.yaml
+++ b/benchmarks/point_robot/setup/mppi.yaml
@@ -56,3 +56,5 @@ config:
   wheel_radius: 0.0
   wheel_count: 0
   ee_link: null
+  actors:
+    - 'point_robot'
diff --git a/poetry.lock b/poetry.lock
index f1a2926..f55cf6c 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -13,23 +13,14 @@ files = [
 
 [[package]]
 name = "astroid"
-<<<<<<< HEAD
-version = "2.15.0"
-=======
-version = "2.15.3"
->>>>>>> main
+version = "2.15.4"
 description = "An abstract syntax tree for Python with inference support."
 category = "dev"
 optional = false
 python-versions = ">=3.7.2"
 files = [
-<<<<<<< HEAD
-    {file = "astroid-2.15.0-py3-none-any.whl", hash = "sha256:e3e4d0ffc2d15d954065579689c36aac57a339a4679a679579af6401db4d3fdb"},
-    {file = "astroid-2.15.0.tar.gz", hash = "sha256:525f126d5dc1b8b0b6ee398b33159105615d92dc4a17f2cd064125d57f6186fa"},
-=======
-    {file = "astroid-2.15.3-py3-none-any.whl", hash = "sha256:f11e74658da0f2a14a8d19776a8647900870a63de71db83713a8e77a6af52662"},
-    {file = "astroid-2.15.3.tar.gz", hash = "sha256:44224ad27c54d770233751315fa7f74c46fa3ee0fab7beef1065f99f09897efe"},
->>>>>>> main
+    {file = "astroid-2.15.4-py3-none-any.whl", hash = "sha256:a1b8543ef9d36ea777194bc9b17f5f8678d2c56ee6a45b2c2f17eec96f242347"},
+    {file = "astroid-2.15.4.tar.gz", hash = "sha256:c81e1c7fbac615037744d067a9bb5f9aeb655edf59b63ee8b59585475d6f80d8"},
 ]
 
 [package.dependencies]
@@ -108,54 +99,52 @@ uvloop = ["uvloop (>=0.15.2)"]
 
 [[package]]
 name = "casadi"
-version = "3.6.1"
+version = "3.5.5"
 description = "CasADi -- framework for algorithmic differentiation and numeric optimization"
 category = "main"
 optional = false
 python-versions = "*"
 files = [
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-    {file = "casadi-3.6.1-cp27-none-manylinux2010_x86_64.whl", hash = "sha256:5380bb03f42dea10c4a96c9e529d9ed13ecc49501621c1cf7a32550b9fce45d0"},
-    {file = "casadi-3.6.1-cp27-none-win_amd64.whl", hash = "sha256:f94f2a4b68c4918062e483e14ec01e921e1967bbf5b6e535a68302cf6bea553c"},
-    {file = "casadi-3.6.1-cp310-none-macosx_10_13_x86_64.macosx_10_13_intel.whl", hash = "sha256:170c6971e90b1b74a291b2868130ce3658ed45698a81aed22f5110a2f0613477"},
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-    {file = "casadi-3.6.1.tar.gz", hash = "sha256:8566e23722bb10c8e1c0b08f87f9d22c6dc970181ee86aaf508ae0fd4b155b90"},
+    {file = "casadi-3.5.5-cp27-none-macosx_10_13_x86_64.macosx_10_13_intel.whl", hash = "sha256:d4e49cb46404cef61f83b30bb20ec9597c50ae7f55cfd6b89c17facc74675437"},
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+    {file = "casadi-3.5.5-cp39-none-manylinux1_i686.whl", hash = "sha256:c3440c90c31b61ae1df82f6c784643393f723354dc08013f9d5cedf25507c67c"},
+    {file = "casadi-3.5.5-cp39-none-manylinux1_x86_64.whl", hash = "sha256:bd94048388b602fc30fdac2fecb986c034110ed8d2d17af7fd13b0de45c58bd7"},
+    {file = "casadi-3.5.5-cp39-none-manylinux2014_aarch64.whl", hash = "sha256:cd630a2e6ec6df6a4977af63080fa8d63a0053ff8c06ea0200959b47ae75201c"},
+    {file = "casadi-3.5.5-cp39-none-win32.whl", hash = "sha256:ac45b91616e9b8afbe266ca08e80770b28e9e6d7a5852e3677fb37e42bde2047"},
+    {file = "casadi-3.5.5-cp39-none-win_amd64.whl", hash = "sha256:55df534d003efdd120c4ebfeb6b252c443d273cdc4b97a394eb0268367477795"},
 ]
 
-[package.dependencies]
-numpy = "*"
-
 [[package]]
 name = "certifi"
 version = "2022.12.7"
@@ -592,23 +581,14 @@ files = [
 
 [[package]]
 name = "imageio"
-<<<<<<< HEAD
-version = "2.26.0"
-=======
-version = "2.27.0"
->>>>>>> main
+version = "2.28.0"
 description = "Library for reading and writing a wide range of image, video, scientific, and volumetric data formats."
 category = "main"
 optional = false
 python-versions = ">=3.7"
 files = [
-<<<<<<< HEAD
-    {file = "imageio-2.26.0-py3-none-any.whl", hash = "sha256:1a4fdb820abc52ba0f08e770ee46293c334908e8d53217808d9d888f993b1df2"},
-    {file = "imageio-2.26.0.tar.gz", hash = "sha256:169f1642cdb723133fe8fe901887f4f1b39bc036458c4664f1f9d256226ced35"},
-=======
-    {file = "imageio-2.27.0-py3-none-any.whl", hash = "sha256:24c6ad7d000e64eacc2861c402b6fb128f370cb0a6623cf796d83bca0d0d14d3"},
-    {file = "imageio-2.27.0.tar.gz", hash = "sha256:ee269c957785ef0373cc7a7323185956d83ec05e6cdf20b42a03ba7b74ac58c6"},
->>>>>>> main
+    {file = "imageio-2.28.0-py3-none-any.whl", hash = "sha256:889d9eca66ac9f664d480b78447db1774e7f386bd3b0a06be7e32362d5390f4c"},
+    {file = "imageio-2.28.0.tar.gz", hash = "sha256:467763bdb6e614d1ea8b4565e42c53fb2eb2fd4307a4601e97102a958c09812a"},
 ]
 
 [package.dependencies]
@@ -633,14 +613,14 @@ tifffile = ["tifffile"]
 
 [[package]]
 name = "importlib-metadata"
-version = "6.5.0"
+version = "6.6.0"
 description = "Read metadata from Python packages"
 category = "main"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "importlib_metadata-6.5.0-py3-none-any.whl", hash = "sha256:03ba783c3a2c69d751b109fc0c94a62c51f581b3d6acf8ed1331b6d5729321ff"},
-    {file = "importlib_metadata-6.5.0.tar.gz", hash = "sha256:7a8bdf1bc3a726297f5cfbc999e6e7ff6b4fa41b26bba4afc580448624460045"},
+    {file = "importlib_metadata-6.6.0-py3-none-any.whl", hash = "sha256:43dd286a2cd8995d5eaef7fee2066340423b818ed3fd70adf0bad5f1fac53fed"},
+    {file = "importlib_metadata-6.6.0.tar.gz", hash = "sha256:92501cdf9cc66ebd3e612f1b4f0c0765dfa42f0fa38ffb319b6bd84dd675d705"},
 ]
 
 [package.dependencies]
@@ -831,13 +811,13 @@ files = [
 
 [[package]]
 name = "lit"
-version = "16.0.1"
+version = "16.0.2"
 description = "A Software Testing Tool"
 category = "main"
 optional = false
 python-versions = "*"
 files = [
-    {file = "lit-16.0.1.tar.gz", hash = "sha256:630a47291b714cb115015df23ab04267c24fe59aec7ecd7e637d5c75cdb45c91"},
+    {file = "lit-16.0.2.tar.gz", hash = "sha256:d743ef55cb58764bba85768c502e2d68d87aeb4303d508a18abaa8a35077ab25"},
 ]
 
 [[package]]
@@ -1160,82 +1140,6 @@ sympy = ">=1.7,<2.0"
 bullet = ["pybullet (>=3.2.3,<4.0.0)"]
 
 [[package]]
-<<<<<<< HEAD
-name = "msgpack"
-version = "1.0.5"
-description = "MessagePack serializer"
-category = "main"
-optional = false
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-=======
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@@ -1745,7 +1570,6 @@ files = [
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     {file = "Pillow-9.5.0.tar.gz", hash = "sha256:bf548479d336726d7a0eceb6e767e179fbde37833ae42794602631a070d630f1"},
->>>>>>> main
 ]
 
 [package.extras]
@@ -1787,32 +1611,19 @@ mpc = ["robotmpcs (>=0.2.1,<0.3.0)"]
 
 [[package]]
 name = "platformdirs"
-<<<<<<< HEAD
-version = "3.1.1"
-=======
-version = "3.2.0"
->>>>>>> main
+version = "3.3.0"
 description = "A small Python package for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
 category = "dev"
 optional = false
 python-versions = ">=3.7"
 files = [
-<<<<<<< HEAD
-    {file = "platformdirs-3.1.1-py3-none-any.whl", hash = "sha256:e5986afb596e4bb5bde29a79ac9061aa955b94fca2399b7aaac4090860920dd8"},
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-=======
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-    {file = "platformdirs-3.2.0.tar.gz", hash = "sha256:d5b638ca397f25f979350ff789db335903d7ea010ab28903f57b27e1b16c2b08"},
->>>>>>> main
+    {file = "platformdirs-3.3.0-py3-none-any.whl", hash = "sha256:ea61fd7b85554beecbbd3e9b37fb26689b227ffae38f73353cbcc1cf8bd01878"},
+    {file = "platformdirs-3.3.0.tar.gz", hash = "sha256:64370d47dc3fca65b4879f89bdead8197e93e05d696d6d1816243ebae8595da5"},
 ]
 
 [package.extras]
-docs = ["furo (>=2022.12.7)", "proselint (>=0.13)", "sphinx (>=6.1.3)", "sphinx-autodoc-typehints (>=1.22,!=1.23.4)"]
-<<<<<<< HEAD
-test = ["appdirs (==1.4.4)", "covdefaults (>=2.2.2)", "pytest (>=7.2.1)", "pytest-cov (>=4)", "pytest-mock (>=3.10)"]
-=======
-test = ["appdirs (==1.4.4)", "covdefaults (>=2.3)", "pytest (>=7.2.2)", "pytest-cov (>=4)", "pytest-mock (>=3.10)"]
->>>>>>> main
+docs = ["furo (>=2023.3.27)", "proselint (>=0.13)", "sphinx (>=6.1.3)", "sphinx-autodoc-typehints (>=1.23,!=1.23.4)"]
+test = ["appdirs (==1.4.4)", "covdefaults (>=2.3)", "pytest (>=7.3.1)", "pytest-cov (>=4)", "pytest-mock (>=3.10)"]
 
 [[package]]
 name = "pluggy"
@@ -1831,21 +1642,6 @@ dev = ["pre-commit", "tox"]
 testing = ["pytest", "pytest-benchmark"]
 
 [[package]]
-<<<<<<< HEAD
-name = "pyaml"
-version = "21.10.1"
-description = "PyYAML-based module to produce pretty and readable YAML-serialized data"
-category = "dev"
-optional = false
-python-versions = "*"
-files = [
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-]
-
-[package.dependencies]
-PyYAML = "*"
-=======
 name = "portalocker"
 version = "2.7.0"
 description = "Wraps the portalocker recipe for easy usage"
@@ -1864,7 +1660,21 @@ pywin32 = {version = ">=226", markers = "platform_system == \"Windows\""}
 docs = ["sphinx (>=1.7.1)"]
 redis = ["redis"]
 tests = ["pytest (>=5.4.1)", "pytest-cov (>=2.8.1)", "pytest-mypy (>=0.8.0)", "pytest-timeout (>=2.1.0)", "redis", "sphinx (>=6.0.0)"]
->>>>>>> main
+
+[[package]]
+name = "pyaml"
+version = "21.10.1"
+description = "PyYAML-based module to produce pretty and readable YAML-serialized data"
+category = "dev"
+optional = false
+python-versions = "*"
+files = [
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+    {file = "pyaml-21.10.1.tar.gz", hash = "sha256:c6519fee13bf06e3bb3f20cacdea8eba9140385a7c2546df5dbae4887f768383"},
+]
+
+[package.dependencies]
+PyYAML = "*"
 
 [[package]]
 name = "pybullet"
@@ -1904,31 +1714,18 @@ validation = ["lxml"]
 
 [[package]]
 name = "pylint"
-<<<<<<< HEAD
-version = "2.17.0"
-=======
-version = "2.17.2"
->>>>>>> main
+version = "2.17.3"
 description = "python code static checker"
 category = "dev"
 optional = false
 python-versions = ">=3.7.2"
 files = [
-<<<<<<< HEAD
-    {file = "pylint-2.17.0-py3-none-any.whl", hash = "sha256:e097d8325f8c88e14ad12844e3fe2d963d3de871ea9a8f8ad25ab1c109889ddc"},
-    {file = "pylint-2.17.0.tar.gz", hash = "sha256:1460829b6397cb5eb0cdb0b4fc4b556348e515cdca32115f74a1eb7c20b896b4"},
+    {file = "pylint-2.17.3-py3-none-any.whl", hash = "sha256:a6cbb4c6e96eab4a3c7de7c6383c512478f58f88d95764507d84c899d656a89a"},
+    {file = "pylint-2.17.3.tar.gz", hash = "sha256:761907349e699f8afdcd56c4fe02f3021ab5b3a0fc26d19a9bfdc66c7d0d5cd5"},
 ]
 
 [package.dependencies]
-astroid = ">=2.15.0,<=2.17.0-dev0"
-=======
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-    {file = "pylint-2.17.2.tar.gz", hash = "sha256:1b647da5249e7c279118f657ca28b6aaebb299f86bf92affc632acf199f7adbb"},
-]
-
-[package.dependencies]
-astroid = ">=2.15.2,<=2.17.0-dev0"
->>>>>>> main
+astroid = ">=2.15.4,<=2.17.0-dev0"
 colorama = {version = ">=0.4.5", markers = "sys_platform == \"win32\""}
 dill = {version = ">=0.2", markers = "python_version < \"3.11\""}
 isort = ">=4.2.5,<6"
@@ -2001,23 +1798,14 @@ files = [
 
 [[package]]
 name = "pytest"
-<<<<<<< HEAD
-version = "7.2.2"
-=======
 version = "7.3.1"
->>>>>>> main
 description = "pytest: simple powerful testing with Python"
 category = "main"
 optional = false
 python-versions = ">=3.7"
 files = [
-<<<<<<< HEAD
-    {file = "pytest-7.2.2-py3-none-any.whl", hash = "sha256:130328f552dcfac0b1cec75c12e3f005619dc5f874f0a06e8ff7263f0ee6225e"},
-    {file = "pytest-7.2.2.tar.gz", hash = "sha256:c99ab0c73aceb050f68929bc93af19ab6db0558791c6a0715723abe9d0ade9d4"},
-=======
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     {file = "pytest-7.3.1.tar.gz", hash = "sha256:434afafd78b1d78ed0addf160ad2b77a30d35d4bdf8af234fe621919d9ed15e3"},
->>>>>>> main
 ]
 
 [package.dependencies]
@@ -2308,23 +2096,14 @@ test = ["asv", "gmpy2", "mpmath", "pooch", "pytest", "pytest-cov", "pytest-timeo
 
 [[package]]
 name = "setuptools"
-<<<<<<< HEAD
-version = "67.6.0"
-=======
-version = "67.7.0"
->>>>>>> main
+version = "67.7.2"
 description = "Easily download, build, install, upgrade, and uninstall Python packages"
 category = "main"
 optional = false
 python-versions = ">=3.7"
 files = [
-<<<<<<< HEAD
-    {file = "setuptools-67.6.0-py3-none-any.whl", hash = "sha256:b78aaa36f6b90a074c1fa651168723acbf45d14cb1196b6f02c0fd07f17623b2"},
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-=======
-    {file = "setuptools-67.7.0-py3-none-any.whl", hash = "sha256:888be97fde8cc3afd60f7784e678fa29ee13c4e5362daa7104a93bba33646c50"},
-    {file = "setuptools-67.7.0.tar.gz", hash = "sha256:b7e53a01c6c654d26d2999ee033d8c6125e5fa55f03b7b193f937ae7ac999f22"},
->>>>>>> main
+    {file = "setuptools-67.7.2-py3-none-any.whl", hash = "sha256:23aaf86b85ca52ceb801d32703f12d77517b2556af839621c641fca11287952b"},
+    {file = "setuptools-67.7.2.tar.gz", hash = "sha256:f104fa03692a2602fa0fec6c6a9e63b6c8a968de13e17c026957dd1f53d80990"},
 ]
 
 [package.extras]
@@ -2446,14 +2225,14 @@ widechars = ["wcwidth"]
 
 [[package]]
 name = "termcolor"
-version = "2.2.0"
+version = "2.3.0"
 description = "ANSI color formatting for output in terminal"
 category = "main"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "termcolor-2.2.0-py3-none-any.whl", hash = "sha256:91ddd848e7251200eac969846cbae2dacd7d71c2871e92733289e7e3666f48e7"},
-    {file = "termcolor-2.2.0.tar.gz", hash = "sha256:dfc8ac3f350788f23b2947b3e6cfa5a53b630b612e6cd8965a015a776020b99a"},
+    {file = "termcolor-2.3.0-py3-none-any.whl", hash = "sha256:3afb05607b89aed0ffe25202399ee0867ad4d3cb4180d98aaf8eefa6a5f7d475"},
+    {file = "termcolor-2.3.0.tar.gz", hash = "sha256:b5b08f68937f138fe92f6c089b99f1e2da0ae56c52b78bf7075fd95420fd9a5a"},
 ]
 
 [package.extras]
@@ -2601,23 +2380,14 @@ telegram = ["requests"]
 
 [[package]]
 name = "trimesh"
-<<<<<<< HEAD
-version = "3.20.2"
-=======
 version = "3.21.5"
->>>>>>> main
 description = "Import, export, process, analyze and view triangular meshes."
 category = "main"
 optional = false
 python-versions = "*"
 files = [
-<<<<<<< HEAD
-    {file = "trimesh-3.20.2-py3-none-any.whl", hash = "sha256:3465ee65a35f958fcefe9ab2a3c636c088cb4ccc3951ec7fd72368f7efcf1525"},
-    {file = "trimesh-3.20.2.tar.gz", hash = "sha256:ead4ab5a8be055311c7037a5505af0f04d6087288f994b040125bc9063d40613"},
-=======
     {file = "trimesh-3.21.5-py3-none-any.whl", hash = "sha256:5ae1ca5e4f4a5f41aa79067a9c39e083e37d7148022bb150cb0e6f89ec614df3"},
     {file = "trimesh-3.21.5.tar.gz", hash = "sha256:74741bc7f9fcb94b98951db8dc8ec8364a2ef52ac2ca0761c7ba06182ef329be"},
->>>>>>> main
 ]
 
 [package.dependencies]
@@ -2640,11 +2410,6 @@ sympy = {version = "*", optional = true, markers = "extra == \"easy\""}
 xxhash = {version = "*", optional = true, markers = "extra == \"easy\""}
 
 [package.extras]
-<<<<<<< HEAD
-all = ["chardet", "colorlog", "glooey", "jsonschema", "lxml", "mapbox-earcut", "meshio", "msgpack", "networkx", "pillow", "psutil", "pycollada", "pyglet (<2)", "python-fcl", "requests", "rtree", "scikit-image", "scipy", "setuptools", "shapely", "svg.path", "sympy", "xatlas", "xxhash"]
-easy = ["chardet", "colorlog", "jsonschema", "lxml", "mapbox-earcut", "msgpack", "networkx", "pillow", "pycollada", "requests", "rtree", "scipy", "setuptools", "shapely", "svg.path", "sympy", "xxhash"]
-test = ["autopep8", "coveralls", "ezdxf", "pyinstrument", "pytest", "pytest-cov", "ruff"]
-=======
 all = ["chardet", "colorlog", "glooey", "jsonschema", "lxml", "mapbox-earcut", "meshio", "networkx", "pillow", "psutil", "pycollada", "pyglet (<2)", "python-fcl", "requests", "rtree", "scikit-image", "scipy", "setuptools", "shapely", "svg.path", "sympy", "xatlas", "xxhash"]
 easy = ["chardet", "colorlog", "jsonschema", "lxml", "mapbox-earcut", "networkx", "pillow", "pycollada", "requests", "rtree", "scipy", "setuptools", "shapely", "svg.path", "sympy", "xxhash"]
 test = ["autopep8", "coveralls", "ezdxf", "pyinstrument", "pytest", "pytest-cov", "ruff"]
@@ -2686,7 +2451,6 @@ torch = "*"
 [package.extras]
 tests = ["autopep8", "flake8", "isort", "numpy", "pytest", "scipy (>=1.7.1)"]
 tutorials = ["matplotlib", "pandas", "tabulate"]
->>>>>>> main
 
 [[package]]
 name = "typing-extensions"
@@ -2717,14 +2481,14 @@ pyyaml = "*"
 
 [[package]]
 name = "urdfenvs"
-version = "0.7.1"
+version = "0.7.3"
 description = "Simple simulation environment for robots, based on the urdf files."
 category = "main"
 optional = false
 python-versions = ">=3.8,<4.0"
 files = [
-    {file = "urdfenvs-0.7.1-py3-none-any.whl", hash = "sha256:30842636aa3d639a19b0e17fabd947b7e644009ef924e5068a5fd971e97be855"},
-    {file = "urdfenvs-0.7.1.tar.gz", hash = "sha256:b18a8d10b914c2fa681f758088d3420868812100e35ac5bfd8c5e68c978ab22b"},
+    {file = "urdfenvs-0.7.3-py3-none-any.whl", hash = "sha256:61c781150c0edfd0615f7d7dc5e61ade28fb0c889d4e30d2f0f595bbebf0ec5c"},
+    {file = "urdfenvs-0.7.3.tar.gz", hash = "sha256:50ff650731884f21a8708382c91a9e12f13ec53ab6bc391cdff828d4a3c800ea"},
 ]
 
 [package.dependencies]
@@ -3016,8 +2780,4 @@ testing = ["big-O", "flake8 (<5)", "jaraco.functools", "jaraco.itertools", "more
 [metadata]
 lock-version = "2.0"
 python-versions = "^3.8,<3.9"
-<<<<<<< HEAD
-content-hash = "198363c1ca14383fd38ebc3506a5f0b67cab4e6b5ed352e87df7cd0eb58e55fa"
-=======
-content-hash = "42e7a3e6a85071b1eb3589abe5372a40dcb1a7da53eeb223175b08ee6e5edb11"
->>>>>>> main
+content-hash = "77c80e9337bd40c06c18b6d1c07db15dcffdd70ee7b240eeb0a289d853fadabe"
diff --git a/pyproject.toml b/pyproject.toml
index 7422116..82f6854 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -21,6 +21,7 @@ fabrics = "^0.6.2"
 yourdfpy = "^0.0.52"
 pytorch3d = "^0.3.0"
 urdfenvs = "^0.7.1"
+casadi = "3.5.5"
 
 [tool.poetry.group.dev]
 optional = true

From 5e603c586bf32df0204e22128ee48f578a6e9b0e Mon Sep 17 00:00:00 2001
From: Max Spahn <m.spahn@tudelft.nl>
Date: Wed, 10 May 2023 10:46:58 +0200
Subject: [PATCH 5/5] fix[urdfenvs]: Assumes sphere type for obstacles, as the
 type cannot be wrapped as a observation. Wait for fix in urdfenvs.

---
 examples/panda_robot_with_obstacles.py |  2 +-
 examples/point_robot_with_obstacle.py  | 25 +++++++++++++------------
 mppiisaac/planner/isaacgym_wrapper.py  |  2 +-
 3 files changed, 15 insertions(+), 14 deletions(-)

diff --git a/examples/panda_robot_with_obstacles.py b/examples/panda_robot_with_obstacles.py
index 8886d11..1aa3fe5 100644
--- a/examples/panda_robot_with_obstacles.py
+++ b/examples/panda_robot_with_obstacles.py
@@ -98,7 +98,7 @@ def initalize_environment(cfg):
     # sense both
     sensor = FullSensor(
         goal_mask=["position"],
-        obstacle_mask=["position", "velocity", "type", "size"],
+        obstacle_mask=["position", "velocity", "size"],
         variance=0.0,
     )
     env.add_sensor(sensor, [0])
diff --git a/examples/point_robot_with_obstacle.py b/examples/point_robot_with_obstacle.py
index 95c3c0b..5298696 100644
--- a/examples/point_robot_with_obstacle.py
+++ b/examples/point_robot_with_obstacle.py
@@ -81,17 +81,18 @@ def initalize_environment(cfg) -> UrdfEnv:
     sphereObst = SphereObstacle(name="simpleSphere", content_dict=obst1Dict)
     env.add_obstacle(sphereObst)
 
-    obst2Dict = {
-        "type": "box",
-        "geometry": {
-            "position": [1.0, 2.0, 0.0],
-            "width": 0.3,
-            "height": 0.2,
-            "length": 1.0,
-        },
-    }
-    boxObst = BoxObstacle(name="simpleBox", content_dict=obst2Dict)
-    env.add_obstacle(boxObst)
+    # TODO: Allow for non-sphere obstacles. Wait for update of urdfenvs.
+    # obst2Dict = {
+        # "type": "box",
+        # "geometry": {
+            # "position": [1.0, 2.0, 0.0],
+            # "width": 0.3,
+            # "height": 0.2,
+            # "length": 1.0,
+        # },
+    # }
+    # boxObst = BoxObstacle(name="simpleBox", content_dict=obst2Dict)
+    # env.add_obstacle(boxObst)
     goal_dict = {
         "weight": 1.0,
         "is_primary_goal": True,
@@ -108,7 +109,7 @@ def initalize_environment(cfg) -> UrdfEnv:
     # sense both
     sensor = FullSensor(
         goal_mask=["position"],
-        obstacle_mask=["position", "velocity", "type", "size"],
+        obstacle_mask=["position", "velocity", "size"],
         variance=0.0,
     )
     env.add_sensor(sensor, [0])
diff --git a/mppiisaac/planner/isaacgym_wrapper.py b/mppiisaac/planner/isaacgym_wrapper.py
index cf073db..f779c28 100644
--- a/mppiisaac/planner/isaacgym_wrapper.py
+++ b/mppiisaac/planner/isaacgym_wrapper.py
@@ -488,7 +488,7 @@ def update_root_state_tensor_by_obstacles(self, obstacles):
         for i, obst in enumerate(list(obstacles.values())):
             pos = obst['position']
             vel = obst['velocity']
-            o_type = obst['type']
+            o_type = 'sphere'
             o_size = obst['size']
             name = f"{o_type}{i}"
             try: