ir-sim-v2.5.0

This version improves time cost performance (approximately 40% speed improvement) by refactoring the object plot function and the geometry transform operation for large environments.

• New Features:

  • Refactor the object plot function using Matplotlib patch transforms #64 .
  • Add new object plot features and API #64 .
  • Refactor the geometry-transform operation 5126859.
  • Improve test coverage b92838e.
  • Add a set-laser-color function 80ea931.
  • Refine documentation and the to-do list #59 #64 .
  • Add a UV lock file for the project #64 .

• Bug Fixes:

  • Fix bugs in object plot #64 .
  • Rename init_vertices to original_vertices #64 .
  • Rename init_geometry to original_geometry #64 .
  • Fix warning messages #63.

ir-sim-v2.4.4

• Bug Fixes:

  • Fix geometry tree bug (#55)
  • Fix 3D plot bug (65a2c8c)

• New Features:

  • Add rrt star path planner (#54) by @reiniscimurs
  • Add neighbor_threshold parameter for the rvo behavior (9b7f483)

• Enhancements:

  • Update the distance function to accelerate the rvo algorithm (b56ce6c).
  • Update the robot image (6e0e796).

ir-sim-v2.4.3

• Bug Fixes:

  • Fix lidar offset plot bug.

• New Features:

  • Implement several classic path planners (see planners]), A star, RRT, and PRM adapted from PythonRobotics repo by @reiniscimurs (#51).
  • Add draw quiver functions.
  • Add world plot parameters in yaml file, see usage02
  • Update requirements (scipy, black)

ir-sim-v2.4.2

• Bug Fixes:

  • Change omni robot default state dim to be 3.
  • Remove the check_collision and arrive property in the env_base.
  • Fix bugs in test cases; Remove some old features (#50).

• New Features:

  • Reorganize the logger functions (#47).
  • Add object heading and orientation (#48).
  • Formulate the geometry tree for the collision check (#49)
  • Improve test coverage of this code (#50).

ir-sim-v2.4.1

• Bug Fixes:

  • Fix the polygon trail type bug #36 .

• New Features:

  • Make sure the obstacles are valid polygons #37.
  • Add functions to set the laser color #41 .
  • Env can be initialized without yaml files #45 .
  • Add the render mode to select the objects to render. static, dynamic, all #45 .
  • Enhance readme and Documentation #38 61b4b46 by @GuoliangLI1998.
  • Add dynamic random obstacles usage (4d8aa3b)

ir-sim-v2.4.0

• New Features:

  • Add binary map generator and example HM3D binary maps by @GuoliangLI1998 in #34. see usage grid map and binary maps for details.
  • Accelerate collision check for larger binary maps in #35.
  • Setting random goals call for objects by @reiniscimurs in #33
  • Support multiple goal setting in #27.
  • Add the requirement files in #26 .

• Bug Fixes:

  • Fix the bug of the collision mode with unobstructed_obstacles in #29.
  • Fix the typo in readme and documentation in #28.
  • Fix the errors in log message.
  • Fix the multi-obj keyboard control error in #31 #30

Real Map	Binary Map
hm3d Real Map 1 (00813-svBbv1Pavdk)	hm3d Binary Map 1 (00813-svBbv1Pavdk)
hm3d Real Map 2 (00824-Dd4bFSTQ8gi)	hm3d Binary Map 2 (00824-Dd4bFSTQ8gi)

ir-sim-v2.3.6

• Bug Fixes:

  • The Lidar2D sensor now passes through unobstructed objects, see usage: 05lidar_world for detail. #24
  • Fix the matplotlib backend error when running in the headless server. #23 #25
  • Fix the dimension error of object vertices.
  • Fix the plot parameter name: edgecolor -> trail_edgecolor; linewidth -> trail_linewidth;

• New Features:

  • Add the obj_linestyle parameter for the object to set the line style of the object edge. see usage: 05lidar_world for detail. #24
  • Update object property comments and API documentation.

ir-sim-v2.3.5

• Bug Fixes:

  • Dimension of init vertices for the polygon object

• New Features:

  • Complete the feature of show_text for the object and add abbr name for the object, run usage: 06multi_objects_world for detail.
  • Add init parameters for the set_goal function #22.
  • Add add_object, add_objects, delete_object, delete_objects functions for the environment to support adding or eliminating obstacles.
  • Add get_Gh function for the object to get the inequality generalization matrixs by current state.
  • Update type hint for the functions and format the code with black.

ir-sim-v2.3.4

• Fix some bugs:

  • State angle reset bug under omni robot dynamics #18.
  • Rvo zero division #18
  • Python version compatibility #19
  • Update Documentations
  • Fix matplotlib bug

• New Features:

  • Add passable ids for random_obstacle_position by @reiniscimurs in #16.
  • Make obstacles spawn in unique locations for random_obstacle_position by @reiniscimurs in #18.
  • Support saving the animation as video file.
  • Python version >= 3.9
  • Rename get_obstacle_list() to get_obstacle_info_list()[source] for clarity

ir-sim-v2.3.2

ir-sim 2.3.2 is a bug fix release with no new features compared to 2.3.1.