trifinger_simulation Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning (at least for versions > 1.4.1).

Unreleased

2.0.0 - 2024-07-30

Added

Add py.typed marker for mypy
screenshot_mode.py to run simulation without visualisations (for nicer screenshots).

Deprecated

The pinocchio_utils module is deprecated and will be removed in a future release. Use the one from robot_properties_fingers instead.

Fixed

Fixed a rounding error that occasionally resulted in NaN values when evaluating states in the "move_cuboid" task.
Fixed included URDF files of (Tri)FingerPro (see robot_properties_fingers #15 ).

Removed

trifinger_simulation does no longer maintain a copy of the robot model files for the pure-Python installation. Instead it depends on robot_properties_fingers now for both installation types (colcon and pure Python).

1.4.1 - 2022-06-24

Switch from setup.py to setup.cfg
Set dtypes of gym spaces to np.float64

1.4.0 - 2022-06-23

Nicer rendering of the boundary (#68)
Change initial pose of camera in PyBullet GUI (#68)
Set proper initial position based on finger type (#79)
Fix incompatibility with newer Gym versions (#81)
Add option to save images to demo_cameras (#82)
Simulate delay of camera observations (#84)
Optionally compute tip velocities in forward kinematics (#85)
Cleanup the code and add more unit tests

1.3.0 - 2021-08-04

There is no changelog for this or earlier versions.