ir-sim-v2.9.3

2.9.3

• Features:

  • Add loop mode for waypoint navigation behavior. (#266)
  • Add line obstacle support to RVO algorithm. (#250)
  • Add CBF-QP and collision-cone usage examples. (#258) (@Lawliet9666)

• Performance:

  • Vectorize lidar range/origin filter and skip union_all, ~48% faster lidar step on map-based arenas. (#257) (@williamleong)
  • Use STRtree intersects predicate for lidar map segment filtering, ~26% faster lidar step on PNG-map arenas. (#255) (@williamleong)
  • Cache geometry validity and streamline lidar map ray intersection, ~18% faster lidar step on PNG-map arenas. (#254) (@williamleong)

• Fix:

  • Prevent infinite loop in WrapToPi/WrapTo2Pi for non-finite inputs. (#269)

• Refactor:

  • Simplify file_check and find_file in util. (#256)

ir-sim-v2.9.2

• Features:

  • Add env.create_robot() and env.create_obstacle() for programmatic object creation, and env.add_object() / env.add_objects() for adding them at runtime. (#251)
  • Add check_arrive() method to check if an object has reached a given goal, and initialize plot for dynamically added objects. (#240)
  • Add set_text() and set_goal_text() API for setting custom text on objects and goals. (#239)
  • Add typo detection and suggestions for invalid YAML configuration keys. (#227)

• Refactor:

  • Centralize kinematics metadata (default color, state_dim, description) in the handler registry to make the kinematics be added more easily. (#237)

• Fix:

  • Improve robustness of save animation by reading and saving frames one by one instead of loading all images into memory. (#230) (@williamleong)

• Docs:

  • Add "Dynamic Object Management" section to the Make Environment documentation. (#251)
  • Fix and update Chinese translations.

ir-sim-v2.9.1

• Features:

  • Add Perlin noise and image-based grid map generators, new JPS (Jump Point Search) and Informed RRT* path planners, and refactor existing planners (A*, RRT, RRT*, PRM) to use the EnvGridMap protocol. see usage 20 #215 (@KevinLADLee)
  • Drop Python 3.9 support, add Python 3.14 support. Raise minimum Python version to 3.10, modernize type annotations (Optional/Union to X | Y syntax). #216
  • Add optional reload parameter to set_random_seed() that regenerates random obstacles with the new seed when set to True. #210
  • Default animation filename to the world name when not explicitly specified. #221

• Fix:

  • Add grid-based collision detection for obstacle maps using grid array lookup for faster detection, cache STRtree in ObstacleMap. #205

• Refactor:

  • Add input validation decorators (validate_shape, validate_length, ensure_column_vector, ensure_numpy) for kinematics and utility functions.

• Docs:

  • Refine README.
  • Add grid map configuration and path planning documentation. #215

ir-sim-v2.9.0

Assistant by claude code, this version adds multi-environment support with instance-based parameters, allowing multiple independent simulation environments to run simultaneously. It also introduces 1D ToF sensor support and keyboard improvements.

• Features:

  • Add 1D ToF (Time-of-Flight) sensor support by setting lidar2d sensor number: 1 and angle_range: 0. (#200) by @williamleong
  • Add multi-environment keyboard switching support. Only one environment responds to keyboard input at a time; switching occurs via mouse click or focus events. (#192)
  • Add y key to toggle display render window on/off. (#194)

• Refactor:

  • Environment parameters (env_param, world_param, path_param) are now instance-based rather than global, enabling proper multi-environment support. (#191)

• Fix:

  • Fix robot property to raise IndexError with clear message when no robots exist. (#188)
  • Fix save_figure to handle filenames with multiple dots correctly. (#188)
  • Fix type annotations for get_group_by_name, get_obstacle_info_list, get_robot_info_list, and random_obstacle_position. (#188)
  • Fix set_ax_viewpoint to handle None objects parameter. (#188)
  • Add NotImplementedError for 3D state generation and uniform distribution (not yet implemented). (#188)

• Docs:

  • Add changelog and contributing pages to documentation. (#203)
  • Improve custom behavior tutorial and examples. (#193)
  • Fix formatting issues in documentation. (#190)

• Tests:

  • Refactor and improve test coverage from 94% to 97%. (#189)
  • Add tests for multi-env keyboard switching and display toggle.

ir-sim-v2.8.2

• Features #183 by @hfr2015 :

  • Add group_name YAML parameter to help user manage the objects in the same group.
  • Add show_goal_text YAML parameter to decide whether to show the goal text on the plot.
  • Add get_group_by_name function to get the objects in the same group by the group name.
  • Update related documentation

• Fix:

  • Fix Group ID parameter conflict issue #180 #183 by @hfr2015
  • Fix group behavior warning issue e8ca7df

ir-sim-v2.8.1

Hotfix: Fix the autoapi extension issue in the documentation. bfa0a4c

ir-sim-v2.8.0

This version add the feature of group_behavior to support group-level behavior for all objects within the same group, which is more efficient for coordinated behaviors (like swarm or crowd simulation) as it computes actions for all members in a single step. The chinese (中文) version documentation is also supported.

• Features:

  • Add group_behavior YAML parameter to support group-level behavior for all objects within the same group. #169
  • Integrate GroupBehavior class to handle group-level logic, allowing for both function-based and class-based behaviors. #169
  • Add ORCA (Optimal Reciprocal Collision Avoidance) behavior support implemented by pyrvo library, this behavior can be configured in the YAML file. #169 see usage orca_behavior_world
  • Update behavior_registry to support registration of behavior classes and group behavior classes using decorators (@register_behavior_class, @register_group_behavior_class). #169
  • Add viewpoint YAML parameter for rendering the plot with the viewpoint of the object. #162 see keyboard_control

• Docs:

  • Support chinese version documentation. by @hfr2015 #173
  • Update documentation for group_behavior configuration, including ORCA parameters. #169

• Fix:

  • rng random in generate_polygon function. 051fb8d
  • Group index increment issue. #169

New Contributors

• @hfr2015 made their first contribution in #173

ir-sim-v2.7.5

• Features:

  • Add features to set/fix the seed in random environment generation for reproducibility.
    Simply add the seed parameter to the make function (e.g., env = irsim.make("random_obstacle.yaml", seed=2)) or set the seed using the env.set_random_seed function followed by env.reload(). See usage random_obstacle_seed for details. #147 #148 (thank @atinfinity for suggestions)
  • Add ORCA example (behavior) in ir-sim, implemented by pyrvo, a Python binding of the classic ORCA algorithm (C++ version, high efficiency). See usage orca world for details. #149

• Bug fixes:

  • Fix issue where sampling time did not work. #149
  • Fix documentation errors. #152

ir-sim-v2.7.4

• Features:

  • Add state normalization and an input-checking decorator function. #135
  • Add new key F5 to debug the environment. In debug mode, the environment pauses and waits for the next F5 to continue; press Space to exit debug mode. #137 (thank @hfr2015 for suggestions)
  • Add new key v to save the current figure. #137
  • Add flags for reload, debug, and quit. #137

• Bug fixes:

  • Fix keyboard issues. #137
  • Fix goal plot issues. #141

• Style:

  • Organize plot function for patch plot. #141
  • Organize logger info. #138

ir-sim-v2.7.3

• Features:

  • Switch the default keyboard backend to pynput (global keyboard hook), with automatic fallback to Matplotlib (mpl) when pynput is unavailable. Note: mpl keyboard event can introduce delays when plotting many objects. #130
  • Parity for the pynput keyboard backend with mpl #130 :
    1. Keyboard input is handled only when the figure window is focused.
    2. Add a global_hook option in the keyboard config to allow input when the figure window is unfocused.
    3. Implement env reload and quit for the pynput backend.
  • Add an environment-level quit function. #130
  • Rename keyboard handlers in keyboard_control.py: _on_release → _on_pynput_release, _on_press → _on_pynput_press. #130

• Bug fixes:

  • Correct goal plot alpha handling. c4b238e
  • Set default sample time to match step time. f549b16
  • Fix random obstacle plotting. #126
  • Fix GUI YAML example in the usage docs. c77d47b
  • Resolve LiDAR step timing for dynamic objects (LiDAR updates after all object poses are updated). #127
  • Fix keyboard issue on macOS. #130

• Docs:

  • Clarify sensor update order. #131
  • Document keyboard control using the pynput backend. #131