feat: add omni_angular kinematics and body-frame velocity for omni robots

README.md

@@ -124,7 +124,7 @@ world:
   offset: [0, 0] # the offset of the world on x and y
 
 robot:
-  kinematics: {name: 'diff'}  # omni, diff, acker
+  kinematics: {name: 'diff'}  # omni, omni_angular, diff, acker
   shape: {name: 'circle', radius: 0.2}  # radius
   state: [1, 1, 0]  # x, y, theta
   goal: [9, 9, 0]  # x, y, theta
@@ -138,7 +138,7 @@ For more examples, see the [usage directory](https://github.com/hanruihua/ir-sim
 
 | **Category**     | **Features**                                                                                                                                                                            |
 | ---------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| **Kinematics**   | Differential Drive mobile Robot · Omnidirectional mobile Robot · Ackermann Steering mobile Robot                                                                                        |
+| **Kinematics**   | Differential Drive mobile Robot · Omnidirectional mobile Robot · Omnidirectional with Angular control · Ackermann Steering mobile Robot                                                 |
 | **Sensors**      | 2D LiDAR · FOV Detector                                                                                                                                                                |
 | **Geometries**   | Circle · Rectangle · Polygon · LineString · Binary Grid Map                                                                                                                             |
 | **Behaviors**    | dash (move directly toward goal) · RVO (Reciprocal Velocity Obstacle) · ORCA (Optimal Reciprocal Collision Avoidance)                                                                   |

docs/locale/zh_CN/LC_MESSAGES/usage/configure_keyboard_Mouse_control.po

@@ -100,48 +100,64 @@ msgid "`a`"
 msgstr "`a`"
 
 #: ../../source/usage/configure_keyboard_Mouse_control.md:74
-msgid "Turn Left"
-msgstr "左转"
+msgid "Turn Left (diff/acker) / Strafe Left (omni/omni_angular)"
+msgstr "左转 (diff/acker) / 左平移 (omni/omni_angular)"
 
 #: ../../source/usage/configure_keyboard_Mouse_control.md:74
 msgid "`d`"
 msgstr "`d`"
 
 #: ../../source/usage/configure_keyboard_Mouse_control.md:74
-msgid "Turn Right"
-msgstr "右转"
+msgid "Turn Right (diff/acker) / Strafe Right (omni/omni_angular)"
+msgstr "右转 (diff/acker) / 右平移 (omni/omni_angular)"
 
 #: ../../source/usage/configure_keyboard_Mouse_control.md:74
 msgid "`q`"
 msgstr "`q`"
 
 #: ../../source/usage/configure_keyboard_Mouse_control.md:74
-msgid "Decrease Linear Velocity"
-msgstr "降低线速度"
+msgid "Rotate Left (omni_angular)"
+msgstr "左旋转 (omni_angular)"
 
 #: ../../source/usage/configure_keyboard_Mouse_control.md:74
 msgid "`e`"
 msgstr "`e`"
 
 #: ../../source/usage/configure_keyboard_Mouse_control.md:74
-msgid "Increase Linear Velocity"
-msgstr "提升线速度"
+msgid "Rotate Right (omni_angular)"
+msgstr "右旋转 (omni_angular)"
 
 #: ../../source/usage/configure_keyboard_Mouse_control.md:74
 msgid "`z`"
 msgstr "`z`"
 
 #: ../../source/usage/configure_keyboard_Mouse_control.md:74
-msgid "Decrease Angular Velocity"
-msgstr "降低角速度"
+msgid "Decrease Max Angular Velocity"
+msgstr "降低最大角速度"
 
 #: ../../source/usage/configure_keyboard_Mouse_control.md:74
 msgid "`c`"
 msgstr "`c`"
 
 #: ../../source/usage/configure_keyboard_Mouse_control.md:74
-msgid "Increase Angular Velocity"
-msgstr "提升角速度"
+msgid "Increase Max Angular Velocity"
+msgstr "提升最大角速度"
+
+#: ../../source/usage/configure_keyboard_Mouse_control.md:74
+msgid "`shift+z`"
+msgstr "`shift+z`"
+
+#: ../../source/usage/configure_keyboard_Mouse_control.md:74
+msgid "Decrease Max Linear Velocity"
+msgstr "降低最大线速度"
+
+#: ../../source/usage/configure_keyboard_Mouse_control.md:74
+msgid "`shift+c`"
+msgstr "`shift+c`"
+
+#: ../../source/usage/configure_keyboard_Mouse_control.md:74
+msgid "Increase Max Linear Velocity"
+msgstr "提升最大线速度"
 
 #: ../../source/usage/configure_keyboard_Mouse_control.md:74
 msgid "`alt+num`"

docs/locale/zh_CN/LC_MESSAGES/usage/configure_robots_obstacles.po

@@ -58,12 +58,16 @@ msgstr "关键参数说明"
 #: ../../source/usage/configure_robots_obstacles.md:54
 msgid ""
 "**`kinematics`:** Defines the movement model of the robot. Name options "
-"include `'omni'`, `'diff'`, and `'acker'`."
-msgstr "**`kinematics`：** 定义机器人的运动学模型，可选 `'omni'`、`'diff'`、`'acker'`。"
+"include `'omni'`, `'omni_angular'`, `'diff'`, and `'acker'`."
+msgstr "**`kinematics`：** 定义机器人的运动学模型，可选 `'omni'`、`'omni_angular'`、`'diff'`、`'acker'`。"
 
 #: ../../source/usage/configure_robots_obstacles.md:55
-msgid "`'omni'`: Omnidirectional wheels allowing movement in all directions."
-msgstr "`'omni'`：全向轮，可向任意方向移动。"
+msgid "`'omni'`: Omnidirectional wheels allowing movement in all directions (no orientation control)."
+msgstr "`'omni'`：全向轮，可向任意方向移动（无朝向控制）。"
+
+#: ../../source/usage/configure_robots_obstacles.md:56
+msgid "`'omni_angular'`: Omnidirectional with yaw rate control (can translate and rotate independently)."
+msgstr "`'omni_angular'`：带偏航角速度控制的全向移动（可独立平移和旋转）。"
 
 #: ../../source/usage/configure_robots_obstacles.md:56
 msgid ""
@@ -100,13 +104,29 @@ msgid "`omni`"
 msgstr "`omni`"
 
 #: ../../source/usage/configure_robots_obstacles.md:33
-msgid "`[vx, vy]` - velocity in x,y"
-msgstr "`[vx, vy]` —— x/y 方向速度"
+msgid "`[forward, lateral]` - body-frame velocity"
+msgstr "`[forward, lateral]` —— 机体坐标系速度"
 
 #: ../../source/usage/configure_robots_obstacles.md:33
 msgid "Holonomic robots, drones"
 msgstr "全向机器人、无人机"
 
+#: ../../source/usage/configure_robots_obstacles.md:33
+msgid "✗ No orientation control"
+msgstr "✗ 无朝向控制"
+
+#: ../../source/usage/configure_robots_obstacles.md:33
+msgid "`omni_angular`"
+msgstr "`omni_angular`"
+
+#: ../../source/usage/configure_robots_obstacles.md:33
+msgid "`[forward, lateral, yaw_rate]` - body-frame velocity + yaw rate"
+msgstr "`[forward, lateral, yaw_rate]` —— 机体坐标系速度 + 偏航角速度"
+
+#: ../../source/usage/configure_robots_obstacles.md:33
+msgid "Holonomic robots with heading"
+msgstr "带朝向的全向机器人"
+
 #: ../../source/usage/configure_robots_obstacles.md:33
 msgid "✓ Yes"
 msgstr "✓ 可以"

docs/locale/zh_CN/LC_MESSAGES/yaml_config/configuration.po

@@ -833,8 +833,8 @@ msgid "`kinematics`"
 
 
 #: ../../source/yaml_config/configuration.md:271
-msgid "Kinematic model of the object. Support name: `diff`, `acker`, `omni`"
-msgstr "对象的运动学模型。支持的模型有`diff`, `acker`, `omni`。"
+msgid "Kinematic model of the object. Support name: `diff`, `acker`, `omni`, `omni_angular`"
+msgstr "对象的运动学模型。支持的模型有`diff`、`acker`、`omni`、`omni_angular`。"
 
 #: ../../source/yaml_config/configuration.md:271
 #, python-brace-format
@@ -864,8 +864,8 @@ msgid "`velocity`"
 msgstr "`velocity`"
 
 #: ../../source/yaml_config/configuration.md:271
-msgid "Initial velocity vector."
-msgstr "初始速度向量。"
+msgid "Initial velocity vector. Length matches the kinematics action dimension (2 for `diff`/`omni`/`acker`, 3 for `omni_angular`)."
+msgstr "初始速度向量。长度与运动学动作维度匹配（`diff`/`omni`/`acker` 为 2，`omni_angular` 为 3）。"
 
 #: ../../source/yaml_config/configuration.md:271
 msgid "`goal`"
@@ -942,36 +942,36 @@ msgid "`vel_min`"
 msgstr "`vel_min`"
 
 #: ../../source/yaml_config/configuration.md:271
-msgid "`[-1, -1]`"
-msgstr "`[-1, -1]`"
+msgid "`[-1] * action_dim`"
+msgstr "`[-1] * action_dim`"
 
 #: ../../source/yaml_config/configuration.md:271
-msgid "Minimum velocity limits for each control dimension."
-msgstr "各控制维度的最小速度限制。"
+msgid "Minimum velocity limits for each control dimension. Length matches the kinematics action dimension."
+msgstr "各控制维度的最小速度限制。长度与运动学动作维度匹配。"
 
 #: ../../source/yaml_config/configuration.md:271
 msgid "`vel_max`"
 msgstr "`vel_max`"
 
 #: ../../source/yaml_config/configuration.md:271
-msgid "`[1, 1]`"
-msgstr "`[1, 1]`"
+msgid "`[1] * action_dim`"
+msgstr "`[1] * action_dim`"
 
 #: ../../source/yaml_config/configuration.md:271
-msgid "Maximum velocity limits for each control dimension."
-msgstr "各控制维度的最大速度限制。"
+msgid "Maximum velocity limits for each control dimension. Length matches the kinematics action dimension."
+msgstr "各控制维度的最大速度限制。长度与运动学动作维度匹配。"
 
 #: ../../source/yaml_config/configuration.md:271
 msgid "`acce`"
 msgstr "`acce`"
 
 #: ../../source/yaml_config/configuration.md:271
-msgid "`[inf, inf]`"
-msgstr "`[inf, inf]`"
+msgid "`[inf] * action_dim`"
+msgstr "`[inf] * action_dim`"
 
 #: ../../source/yaml_config/configuration.md:271
-msgid "Acceleration limits."
-msgstr "加速度限制。"
+msgid "Acceleration limits. Length matches the kinematics action dimension."
+msgstr "加速度限制。长度与运动学动作维度匹配。"
 
 #: ../../source/yaml_config/configuration.md:271
 msgid "`angle_range`"
@@ -1224,14 +1224,14 @@ msgid ""
 "theta]`，其中`theta`表示方向角（弧度）。如果提供的状态元素多于所需，则多余部分会被截断；如果少于所需，缺失值用零填充。"
 
 #: ../../source/yaml_config/configuration.md:384
-msgid "**`velocity`** (`list` of `float`, default: `[0, 0]`)"
-msgstr "**`velocity`** (由`float`组成的列表, 默认值为`[0, 0]`)"
+msgid "**`velocity`** (`list` of `float`, default: `[0] * action_dim`)"
+msgstr "**`velocity`**（`float` 列表，默认：`[0] * action_dim`）"
 
 #: ../../source/yaml_config/configuration.md:385
 msgid ""
-"Specifies the initial velocity (list) of the object. The format depends "
+"Specifies the initial velocity (list) of the object. The length must match the kinematics action dimension. The format depends "
 "on the kinematics model:"
-msgstr "指定对象的初始速度（列表）。格式取决于运动学模型："
+msgstr "指定对象的初始速度（列表）。长度须与运动学动作维度匹配。格式取决于运动学模型："
 
 #: ../../source/yaml_config/configuration.md:387
 msgid "**Format by Kinematics:**"
@@ -1244,10 +1244,14 @@ msgid ""
 msgstr "`'diff'`模型参数由`[v, omega]`构成， 其中 `v` 线速度，`omega`角速度。"
 
 #: ../../source/yaml_config/configuration.md:389
-msgid "For `'omni'`: `[vx, vy]`, velocities along the x and y axes."
-msgstr "`'omni'`模型参数由`[vx, vy]`构成， 其中`vx`和`vy`分别是x和y轴方向上的速度。"
+msgid "For `'omni'`: `[forward, lateral]`, body-frame velocities (forward and lateral relative to heading)."
+msgstr "`'omni'`模型参数由`[forward, lateral]`构成，为机体坐标系下的速度（相对于朝向的前进和横向速度）。"
 
 #: ../../source/yaml_config/configuration.md:390
+msgid "For `'omni_angular'`: `[forward, lateral, yaw_rate]`, body-frame velocities plus yaw rate."
+msgstr "`'omni_angular'`模型参数由`[forward, lateral, yaw_rate]`构成，为机体坐标系下的速度加偏航角速度。"
+
+#: ../../source/yaml_config/configuration.md:391
 msgid ""
 "For `'acker'`: Typically `[v, phi]`, where `v` is linear velocity and "
 "`phi` is steering angle."
@@ -1315,8 +1319,12 @@ msgid ""
 msgstr "显式定义速度向量的维度。若未指定，则自动从运动学模型推断。速度维度取决于特定运动学模型的控制输入。"
 
 #: ../../source/yaml_config/configuration.md:429
-msgid "`2`: For differential drive `[v, omega]` or omnidirectional `[vx, vy]`"
-msgstr "`2`：对于差速驱动`[v, omega]`或全向 `[vx, vy]`"
+msgid "`2`: For differential drive `[v, omega]` or omnidirectional `[forward, lateral]`"
+msgstr "`2`：对于差速驱动`[v, omega]`或全向 `[forward, lateral]`"
+
+#: ../../source/yaml_config/configuration.md:430
+msgid "`3`: For omnidirectional with angular control `[forward, lateral, yaw_rate]`"
+msgstr "`3`：对于带角速度控制的全向模型 `[forward, lateral, yaw_rate]`"
 
 #: ../../source/yaml_config/configuration.md:430
 msgid "Additional dimensions may be used for more complex kinematics"
@@ -1413,12 +1421,16 @@ msgstr "**`diff`** — 差速驱动，由线速度和角速度控制（`[v, omeg
 
 #: ../../source/yaml_config/configuration.md:494
 msgid ""
-"**`omni`** — Omnidirectional, controlled by linear speed along the x and "
-"y axes (`[vx, vy]`)"
-msgstr "**`omni`** — 全向移动，由 x 和 y 轴方向的线速度控制（`[vx, vy]`）"
+"**`omni`** — Omnidirectional, controlled by body-frame forward and lateral speed (`[forward, lateral]`)"
+msgstr "**`omni`** — 全向移动，由机体坐标系下的前进和横向速度控制（`[forward, lateral]`）"
 
 #: ../../source/yaml_config/configuration.md:495
 msgid ""
+"**`omni_angular`** — Omnidirectional with angular control, controlled by body-frame speeds and yaw rate (`[forward, lateral, yaw_rate]`)"
+msgstr "**`omni_angular`** — 带角速度控制的全向移动，由机体坐标系下的速度和偏航角速度控制（`[forward, lateral, yaw_rate]`）"
+
+#: ../../source/yaml_config/configuration.md:496
+msgid ""
 "**`acker`** — Ackermann steering, controlled by linear speed and steering"
 " angle (`[v, phi]`)"
 msgstr "**`acker`** — 阿克曼转向，由线速度和转向角控制（`[v, phi]`）"
@@ -1447,22 +1459,42 @@ msgid ""
 msgstr "`noise`（bool）：是否给速度命令添加噪声。默认为 `False`。"
 
 #: ../../source/yaml_config/configuration.md:504
-#: ../../source/yaml_config/configuration.md:513
 #: ../../source/yaml_config/configuration.md:522
 msgid ""
 "`alpha` (list): noise parameters for velocity commands. Default is "
 "`[0.03, 0, 0, 0.03]`."
 msgstr "`alpha`（列表）：速度命令的噪声参数。默认值为 `[0.03, 0, 0, 0.03]`。"
 
+#: ../../source/yaml_config/configuration.md:513
+msgid ""
+"`alpha` (list): noise parameters for velocity commands `[alpha_forward, alpha_lateral]`. Default is `[0.03, 0.03]`."
+msgstr "`alpha`（列表）：速度命令的噪声参数 `[alpha_forward, alpha_lateral]`。默认值为 `[0.03, 0.03]`。"
+
 #: ../../source/yaml_config/configuration.md:511
 msgid ""
 "`'omni'`: Omnidirectional movement, allowing movement in any direction "
 "without changing orientation. This type of robot is controlled by "
-"velocities along the x and y axes. Optional parameters:"
-msgstr "`'omni'`：全向运动，允许在任意方向移动而无需改变朝向。此类机器人通过沿 x 和 y 轴的速度控制。可选参数："
+"body-frame velocities `[forward, lateral]`. Orientation (theta) is preserved but not updated. Optional parameters:"
+msgstr "`'omni'`：全向运动，允许在任意方向移动而不改变朝向。此类机器人通过机体坐标系速度 `[forward, lateral]` 控制。朝向角（theta）保持不变。可选参数："
 
 #: ../../source/yaml_config/configuration.md:520
 msgid ""
+"`'omni_angular'`: Omnidirectional movement with angular velocity control. Extends `omni` by adding a yaw rate channel that integrates orientation (theta). This type of robot is controlled by body-frame velocities `[forward, lateral, yaw_rate]`. Optional parameters:"
+msgstr "`'omni_angular'`：带角速度控制的全向运动。在 `omni` 基础上增加偏航角速度通道以积分朝向角（theta）。此类机器人通过机体坐标系速度 `[forward, lateral, yaw_rate]` 控制。可选参数："
+
+#: ../../source/yaml_config/configuration.md:521
+msgid ""
+"`noise` (bool): whether to add noise to the velocity commands. Default is"
+" `False`."
+msgstr "`noise`（bool）：是否给速度命令添加噪声。默认为 `False`。"
+
+#: ../../source/yaml_config/configuration.md:522
+msgid ""
+"`alpha` (list): noise parameters for velocity commands `[alpha_forward, alpha_lateral, alpha_yaw]`. Default is `[0.03, 0.03, 0.03]`."
+msgstr "`alpha`（列表）：速度命令的噪声参数 `[alpha_forward, alpha_lateral, alpha_yaw]`。默认值为 `[0.03, 0.03, 0.03]`。"
+
+#: ../../source/yaml_config/configuration.md:528
+msgid ""
 "`'acker'`: Ackermann steering, typical for car-like vehicles requiring a "
 "turning radius."
 msgstr "`'acker'`：阿克曼转向，典型用于类车辆，需要转向半径。"
@@ -1483,11 +1515,11 @@ msgstr "`angular`：对象通过线速度和角速度控制。"
 
 #: ../../source/yaml_config/configuration.md:532
 msgid ""
-"**`vel_min`** (`list` of `float`, default: `[-1, -1]`) and **`vel_max`** "
-"(`list` of `float`, default: `[1, 1]`)"
+"**`vel_min`** (`list` of `float`, default: `[-1] * action_dim`) and **`vel_max`** "
+"(`list` of `float`, default: `[1] * action_dim`)"
 
-"**`vel_min`**（`float` 列表，默认：`[-1, -1]`）和 **`vel_max`** （`float` "
-"列表，默认：`[1, 1]`）"
+"**`vel_min`**（`float` 列表，默认：`[-1] * action_dim`）和 **`vel_max`**（`float` "
+"列表，默认：`[1] * action_dim`）"
 
 #: ../../source/yaml_config/configuration.md:533
 msgid ""
@@ -1497,8 +1529,8 @@ msgid ""
 msgstr "设置每个控制维度的最小和最大速度限制（例如线速度和角速度）。这些约束确保对象的运动保持在可行且安全的范围内。"
 
 #: ../../source/yaml_config/configuration.md:535
-msgid "**`acce`** (`list` of `float`, default: `[inf, inf]`)"
-msgstr "**`acce`**（`float` 列表，默认：`[inf, inf]`）"
+msgid "**`acce`** (`list` of `float`, default: `[inf] * action_dim`)"
+msgstr "**`acce`**（`float` 列表，默认：`[inf] * action_dim`）"
 
 #: ../../source/yaml_config/configuration.md:536
 msgid ""
@@ -2626,6 +2658,10 @@ msgstr "混合障碍"
 msgid "Ackermann Vehicle"
 msgstr "阿克曼车辆"
 
+#: ../../source/yaml_config/configuration.md
+msgid "Omni Angular Robot"
+msgstr "全向角速度机器人"
+
 #: ../../source/yaml_config/configuration.md
 msgid "Sensor Integration"
 msgstr "传感器集成"
@@ -2668,7 +2704,7 @@ msgid ""
 "parameters match the kinematics model. For example, a differential drive "
 "robot (`'diff'`) should have velocities in `[v, omega]`, while an "
 "omnidirectional robot (`'omni'`) uses `[vx, vy]`."
-
+msgstr ""
 "**运动学与速度**：确保 `velocity` 与 `vel_max` 的格式与运动学模型匹配，例如差速 (`'diff'`) 使用 `[v, "
 "omega]`，全向 (`'omni'`) 使用 `[vx, vy]`。"
 

docs/source/get_started/quick_start.md

@@ -34,7 +34,7 @@ world:
   offset: [0, 0] # the offset of the world on x and y 
 
 robot:
-  kinematics: {name: 'diff'}  # kinematics of the robot, current name should be one of omni, diff, acker. If not set, this object will be static
+  kinematics: {name: 'diff'}  # kinematics of the robot, current name should be one of omni, omni_angular, diff, acker. If not set, this object will be static
   shape: {name: 'circle', radius: 0.2}  # radius for circle shape
   state: [1, 1, 0]  # x, y, theta, 2d position and orientation
   goal: [9, 9, 0]  # x, y, theta, 2d position and orientation