Max Spahn
Currently the joint position/velocity/acceleration limits are hard coded. We should add a setter method to modify it according to the need of an application.
The tiago robot consists of several joints that can be roughly split into the following groups: - base, actuation: forward velocity, angular velocity, states: x, y, theta - torso, actuation:...
In many situations, it would be beneficial to install the package in editable mode. This is the default using poetry. However, it would be nice if `pip3 install -e .`...
On some machines pybullet 3.2.0 can be installed, but not a more recent version. It might be useful to downgrade the minimum requirement to 3.2.0. https://github.com/maxspahn/gym_envs_urdf/blob/273ccfc104d963ef81ae3ba73a45bc5347782172/pyproject.toml#L9
When torque control is used to control the robots, it is possible to set friction values for all joints. Currently, there is a uniform friction value across all joints of...
Updates the structure to comply with updates in the dependencies. Integrates ompl as a global planner.
Especially in planar cases (mobile robots, cars), it is very useful to have a more involved model of moving obstacles. Therefore, the integration of a social forces model would be...
The variables `n` and `m` are used in multiple locations without being explained. Make sure to either document that, or change the variable naming.
Currently, the wrapper to yaml-files is included into the constructor method for experiments and planner. This should be separated. Potentially, use a singleton pattern and json files instead of yaml:...
There are a couple of vulnerabilites in the package. 5/6 can be fixed by updating pillow to 9.0.1. However, this implies an upgrade to at least python3.7.