ir-sim-v2.10.1

• Features:

  • Add orca group behavior for diff robots (ORCA's holonomic velocity mapped to (linear, angular) via omni_to_diff), extending reciprocal collision avoidance to differential-drive fleets; see the 19orca_world/orca_diff_world example. (#333)
  • Add a fog-of-map overlay (FogMap, enabled via world: {fog_map: true, fog_map_resolution: ...}) revealed by each robot's lidar or fov sector, for modeling exploration under partial observability; see the 24fog_world example. (#337)

• Performance:

  • Speed up the lidar step ~2x when a dynamic obstacle overlaps a static map. (#332)

• Fix:

  • Fix dash in-place yaw oscillation and stalling when the goal is behind the robot. (#331)
  • Fix diff RVO freezing when the goal is directly behind the robot. (#331)
  • Fix the headless keyboard event-queue overflow when spawning many environments. (#331)
  • Keep saved animation frames at a fixed size and pad video to even dimensions so the saved mp4/gif matches the on-screen figure. (#330)
  • Suppress the default velocity arrow on static obstacles (regression from v2.9.2's kinematics-handler refactor). (#313)

• Refactor:

  • Send warnings and errors to the logger instead of print. (#326)

• Docs:

  • Overhaul the documentation site for clarity and navigation, with full English/Chinese parity. (#325)
  • Add the arXiv paper citation and badge to the README. (#320)
  • Add the IRSIM-3DGS-Bridge community project link. (#317) (@Wayneyujie)

New Contributors

• @Wayneyujie made their first contribution in #317

Full Changelog: v2.10.0...v2.10.1