Code

Merge from kolinguo/MPlib#78

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KolinGuo merged 31 commits intomainhaosulab/MPlib:mainfrom merge_kolinhaosulab/MPlib:merge_kolinCopy head branch name to clipboardApr 4, 2024

+5,007-1,107

Commits

Commits on Mar 28, 2024

• Mark next version as 0.2.0

  KolinGuo

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  484964a

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• Fix setMoveGroup docstring

  KolinGuo

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• Rename generate_stub_and_doc.sh to generate_stubs.sh

  KolinGuo

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• Add start_doc_webserver.sh to run sphinx-autobuild

  KolinGuo

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• Fix stubs permission error

  KolinGuo

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Commits on Mar 29, 2024

• Replace nullptr/nullopt with None in mkdoc.py

  KolinGuo

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• Rename pybind_articulation to pybind_articulated_model

  KolinGuo

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• Add docstring to loadMeshAsBVH/loadMeshAsConvex methods

  KolinGuo

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• Rename Planner.pad_qpos as pad_move_group_qpos

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  KolinGuo

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• Remove extra PlanningWorld construction

  KolinGuo

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Commits on Apr 1, 2024

• [Bugfix] Refactor to properly do collision checking in PlanningWorld

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  KolinGuo

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• Update planner.py and examples API interface

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  KolinGuo

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• Add AllowedCollisionMatrix class and filterCollisions method

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• [Bugfix] Add touch_links to AttachedBody; Updates acm_ in PlanningWorld methods

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  KolinGuo

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• Add function to set global seed

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• Update Planner

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• Add PlanningWorld.distance methods and WorldDistanceResult struct

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• Remove RRTstar planner; To be added later with planner refactor

  KolinGuo

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• Rename Planner no_simplification parameter to simplify

  KolinGuo

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• Pybind AttachedBody

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• Add value-initialization for scalar struct/class members

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• [Bugfix] Rename collision_origin2link_poses to collision_origin2link_poses_

  KolinGuo

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• Add createFromURDFString for PinocchioModel / FCLModel / ArticulatedModel

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• Add py::kw_only() where appropriate

  KolinGuo

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• Add mplib.sapien_utils: create PlanningWorld from sapien Scene

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• Add support for fcl::Ellipsoid/Halfspace/TriangleP

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  KolinGuo

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• fixed tests

  Lexseal

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Commits on Apr 2, 2024

• Fix typos

  KolinGuo

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Commits on Apr 3, 2024

• fixed examples

  Lexseal

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• Add verbose to collision info in Planner.IK()

  KolinGuo

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Commits on Apr 4, 2024

• Add 2 more PlanningWorld::attachObject methods at object's current pose

  KolinGuo

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