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CHANGELOG.md

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CHANGELOG

[2.0.0] - 2022-12-16

Added

  • Full integration with ros2_control.
  • Support for moveit_servo via pymoveit.
  • Support for mobile manipulators.
  • lunalab_summit_xl_gen is now added to the supported (mobile) robot models.
  • New GraspPlanetary environment with various observation variants.
  • Additional observation variants for Grasp environments.
  • Models for Sun and RandomSun, replacing the default light contained in SDF worlds.
  • Camera can now be mounted relative to robot frame (configurable) via DetachableJoint.
  • Added experimental setup for Dreamer V2 algorithm.
  • Configuration of pre-commit git hooks.

Changed

  • Major refactoring of drl_grasping module
    • Refactored into two primary submodules that can be imported separately
      • drl_octree that contains octree CNN-based policy
      • envs that contain the environment itself
    • utils submodule still contains boilerplate for RL training and evaluation
  • Randomizer is now used to wrap task environment during gym environment registration.
    • This means, that two environment variants of each task now exist, i.e. *-v0 and *-Gazebo-v0. The default task can therefore be used with different run-times without requiring changes to the hyperparameters in order to make it functional.
  • Environments are now registered directly in envs module instead of envs.tasks
  • All important features are now exposed as ROS 2 launch scripts.
  • A single configurable launch script sim.launch.py now replaces all previous variations. Use its launch arguments to select robot model and enable/disable RViz2 GUI.
  • Instead of all fingers, more than half (n//2 + 1) are now needed to be in contact for a grasp to be successful
  • Changed PEP 8 python formatting for black to improve consistency.
  • Changed bash formatter to beautysh (minor changes).
  • Custom environment logging is now performed via ROS 2 loggers.
  • Local classes for interfacing with MoveIt 2.
  • Simplified usage and quality of life improvements.

Fixed

  • Fix grasp checking for grippers with more than 2 fingers.

Removed

  • DRL_GRASPING_DEBUG_LEVEL environment variable is now replaced by log-level ROS 2 argument.
  • ur5_rg2 and kinova_j2s7s300 from supported robot models due to shift to ros2_control.

[1.1.0] - 2021-10-13

Added

  • kinova_j2s7s300 is now added to the supported robot models.
  • Custom SDF worlds are now used as the base for RL environments.
  • Support for DRL_GRASPING_DEBUG_LEVEL environment variable.
  • Ignition fortress is tested and fully functional.
  • ROS 2 rolling is tested and fully functional.

Changed

  • Local implementation of conversions for quaternion sequence is now used.
  • Simplified installation instructions in README.md.
  • Simplified and improved Dockerfile.

Fixed

  • Compatibility with Stable-Baselines3 v1.2.0

[1.0.0] - 2021-06-08

Added

  • Initial version of this project.
    • Supported environments
      • Reach-Gazebo-v0
      • Reach-ColorImage-Gazebo-v0
      • Reach-Octree-Gazebo-v0
      • Reach-OctreeWithColor-Gazebo-v0
      • Grasp-Octree-Gazebo-v0
      • Grasp-OctreeWithColor-Gazebo-v0
    • Supported robot models
      • panda
      • ur5_rg2
    • Custom feature extractor
      • OctreeCnnFeaturesExtractor
    • Tested RL algorithms
      • td3
      • sac
      • tqc