Ft easy adding walls issue: #77

[GijsGroote]

I changed my mind about createMultiBody vs. adding urdf files

It comes in handy to change the dimensions of the object to add. This is doable with createMultiBody because it
only can add 'simple' shapes to the environment. Eventually adding obstacles/shapes/walls in both ways is preferred. Because:
createMultiBody makes simple shapes, but the dimensions can easily be changed. good for adding walls
adding urdf files makes more complex obstacles. good for more interesting obstacles

The documentation will be updated

[GijsGroote]

For documentation on how to use functions such as add_walls or add_shapes or any other I would like a more automated approach. Such as the API section of the documentation is generated.

Issue #79 has been created for this.

[maxspahn]

I am looking at it. Can you allow changes by other maintainers?
I think it is easier if I directly make some changes rather than asking you to do it.

[maxspahn]

I like your enthousiasm.
Why didn't you use the add_obstacle function that was already there?
Than if-clauses can be done entirely in MotionPlanningEnv?
I think that this would be neater.

[maxspahn]

check_shape_dim suggests that it returns a boolean, but it actually returns a filtered shape dimension

[GijsGroote]

It has been renamed to filter_shape_dim( )

[GijsGroote]

Why didn't you use the add_obstacle function that was already there?
Add obstacle does require that the obstacle if of class: CollisionObstacle
for which I currently do not see the additional advantages.

Additionally:

obst1Dict = {
"dim": 3,
"type": "sphere",
"geometry": {"position": [2.0, 2.0, 1.0], "radius": 1.0},
}
sphereObst1 = SphereObstacle(name="simpleSphere", contentDict=obst1Dict)

env.add_obstacle(sphereObst1)

is a lot more code then:
env.add_shapes(shape_type="GEOM_SPHERE", dim=[1.0], mass=5, poses_2d=[[2.0, 2.0, 1.0]])

Than if-clauses can be done entirely in MotionPlanningEnv?
The real reason is I do not know motionPlanningEnv and what it would provide. Having all objects in one place is better than 2 different places, so we can look at creating every obstacle in the MotionPlanningEnv and having only a add_obstacle function in the gym_urdf_envs repo.

[maxspahn]

Additionally: (...) is a lot more code then: (...)

I agree with keeping it like this for the moment.
I will try to integrate it later into MotionPlanningEnv.

[maxspahn]

I modified a couple of things in the documentation and removed the mutable default arguments in urdf_env.py.
Have a look at it, and then I'll merge it.

[GijsGroote]

I see that I didn't update the docs everywhere. Nice catch

[maxspahn]

Nice work.

Could you open the issue regarding moving this into MotionPlanningScenes?

[GijsGroote]

#92 has been created for this.