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[gym] More generic observer and pipeline design support
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@duburcqa duburcqa released this 18 Nov 16:26
· 190 commits to master since this release
1.4.11
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Learn about vigilant mode.

Observers and controllers can now be mixed freely, with independent update period.

New features:

  • [gym] Add 'PartialFrameStack' wrapper and 'build_wrapper' utility.
  • [gym] Add dedicated 'observe_dt' attribute to observer interface.
  • [gym] Rework observation block to support multiple update period and more flexible pipeline architecture.

Improvements:

  • [core] Enable to access sensors group shared data matrices by reference without copy.
  • [core/python] Do not cast-away constness when sharing memory between Eigen Matrix and np.ndarray.
  • [python] Handle more C++ exceptions.
  • [gym] Refactor 'reset' of gym environment to fix initial state inconsistency and make everything simpler.
  • [gym] Factorize pipeline wrappers 'step' method.

Bug fixes:

  • [python/viewer] Fix display in Spyder IDE.
  • [gym] Fix set seed simulator. Fix cartpole 'compute_command'.
  • [gym] Fix 'write_log' missing format.

Miscellaneous:

  • [gym] Rename 'gym_jiminy_common' in 'gym_jiminy' for clarity.
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