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[gym/envs] Add Cassie robot learning environment.
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@duburcqa duburcqa released this 16 Mar 22:17
· 118 commits to master since this release
1.6.4
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Learn about vigilant mode.

This release improves support of closed kinematic chains by adding analytical distance constraint between frames. It illustrates this new feature, Cassie robot learning environment is now provided. Apart from that, a few minor bug fixes mainly related to the viewer has been fixed, and overall performance has been slightly improved.

New features

  • [core] Add DistanceConstraint to enforce constant distance between frames.
  • [gym/envs] Add Cassie robot example (Closed-kinematic chains).

Improvements

  • [core] Improve performance by avoiding unnecessary copies and redundant computations.
  • [python/dynamics] Add some RPY converters.
  • [python/dynamics] Add options to use theoretical model when computing freeflyer with fixed frame.
  • [python/robot] Add convenience property to get robot name.
  • [python/simulator] Add 'command' tab to 'plot' method.
  • [python/simulator|gym/common/envs] Replace attribute '_is_viewer_available' by public property to avoid redundancy.
  • [gym/common/envs] Do not extract log if no terminal reward.
  • [gym/examples/rllib] Do not return 'log_root_dir' at init because it is redundant.
  • [gym/examples/rllib] Add option to record video periodically during training.

Bug fixes

  • [core] Make sure application time of impulse forces are positive (not strictly).
  • [python/viewer] Fix terminate viewer backend process when closing.
  • [python/viewer] Fix error when closing viewer without waiting for init to finish.
  • [python/viewer/meshcat] Increasing timeout to avoid false negative on low-end configurations.
  • [python/viewer|gym/common/envs] Make sure viewer is properly closed after simulation replay whenever requested.
  • [gym/common/envs] 'compute_command' method no longer update the internal action buffer.
  • [gym/examples] Add missing examples tools.
  • [misc] Fix wheel generation process corrupting png files.

Miscellaneous

  • [core] Move Gauss-Siedel LCP solver in dedicate folder since several may be implemented.
  • [core/python] Define meaningful argument names for constructors.
  • [misc] Allow executing 'easy_install_deps_ubuntu.sh' multiple times without significant side effects.
  • [misc] Make sure *.png files are processed by binary files by git.
  • [misc] Increase Pagefile on Windows CI to avoid unit test failure when loading Panda3d.
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