Merge from kolinguo/MPlib

KolinGuo commented 2 months ago

From commit f27684a to 4b851d6 a total of 39 - 7 = 32 commits.

Except for the following commits:

b059d87 Support more optimizing planner; Add pathlen_obj_only parameter New planners include PRMstar, LazyPRMstar, RRTsharp, RRTXstatic, InformedRRTstar
- Return planner path from MPlib.Planner.plan()
39c6e88 Support RRT planner; Allow setting goal_bias for RRT planners
[Revisit] 13dd6a5 Overload mplib.pymp.fcl.collide/distance for ArticulatedModel
83b7bed [FIXME] Enable creating World(Collision|Distance)Result from Python
6a5c4c1 [FIXME] Add check_collision / distance_to_collision methods with sapien objects as input
6be7a30 [FIXME] Bypass issue with >1 collision shapes per component
c647ab9 [FIXME] Bypass ground for PhysxCollisionShapePlane issue

KolinGuo commented 2 months ago

TODO: @Lexseal

[x] Fix all examples if they errored out
- [x] Fix examples/two_stage_motion.py

Lexseal commented 2 months ago

Will run and fix examples tmr since don't have GUI right now. Will also fix the typos and such later

KolinGuo commented 2 months ago

Thanks for going over them! Let me know when you finish updating the examples

Lexseal commented 2 months ago

Other than the above comment, all examples are fixed and this is good to go!

haosulab / MPlib