Codes for HKU CS Final Year Program 21011: Applying the differentiable physics on deformable objects to enhance the performance of robot learning tasks
[x] Re-organize the plb.engine.primitives since more stuff to be added here
[x] Method to instantiate the plb.engine.primitive.shapes (Box, Sphere or Cylinder) from collision geometries in the plb.urdfpy.Link.
[x] Method to encapuslate plb.urdfpy.Robot into the gym-compatible plb.envs.PlasticineLab
[x] Method to adjust the plb.envs.PlasticineEnv's action and observation dimenstionality
[x] Differentiable forward kinematics method that converts the robot's joint-level actions to primitive's XYZ+Quartenion action, and pipeline it with the simulation engine.
plb.engine.primitivessince more stuff to be added hereplb.engine.primitive.shapes(Box,SphereorCylinder) from collision geometries in theplb.urdfpy.Link.plb.urdfpy.Robotinto the gym-compatibleplb.envs.PlasticineLabplb.envs.PlasticineEnv's action and observation dimenstionality