[gym] Use tuple instead of list to store constant sequences. #268
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…ve value and type check.
duburcqa
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Jan 14, 2021
* [core] Log the robot input args, robot model, and all options as constants. * [core] Double space before inline comments. * [core/python] Simplify C++ to Python log converter. * [python/log] Fix print logged variables. * [core] Add constant for telemetry constant delimiter. * [core] Store constants in hdf5 datasets instead of attributes to get around 64K size limit. * [core] TMLC telemetry format now supports both attributes and dataset field. * [python/viewer] Split viewer and replay tools in separated submodules to reduce file complexity. * [core] Clarity telemetry namespace. * [gym] Make viewer instance directly accessible in pipeline environment. (#260) * [python/simulator] Simulator's Viewer instance is no longer private attribute. * [gym] Get access to simulator's attributes directly. * [core] More generic flexibilities and fix external forces computation (#263) * [core] Enable to add flexible joints at any FIXED_JOINT frame. * [core] Fix body forces wrongly computed by 'aba'. * [core] Add composite centroidal rigid-body inertia computation. * [core/python] Fix bindings of some system_state object fields. * [python/robot] Fix support of multiple collision boxes * [python/robot] Fixes some edge cases when automatically generating HDF file. * [python/viewer] Add partial support of Panda3d visualizer. (#262) * [core] Enable to add coupling forces between frames of the same robot. * [python/viewer] Fix viewer exception when closing backend during replay. * [python/viewer] Rename 'replay_speed' in 'speed_ratio' for clarity. * [python/viewer] Add partial support of Panda3d visualizer. * [misc] Fix compilation issues on Windows, related to 'pinocchio::Symmetric3' implicit constructor. * [core] Do not enforce position/velocity limits at init if disable. * [core] Fallback to not loading/using collision model if meshes are missing. * [core/model] Fix 'getRigidConfigurationFromFlexible' method. * [python/robot] Enable explicit robot initialization without hardware description file. * [python/robot] Skip collision bounding box handling if meshes are not available. * [python/simulator] Fix callback not working since scalar references are now ndarray in Python. * [python/simulator] Fix 'state' property for 'use_theoretical_state'=True. * [gym/common/env] Fix 'replay' not working. * [core] Fix computeSystemDynamics edge case and Python binding signature. * [core|core/python] Expose 'computeForwardKinematics'. * [core|core/python] Rename 'computeSystemDynamics' in 'computeSystemsDynamics' for consistency. * [core/python] Enable to get system from 'Engine'. * [gym/common] Add new random sampling utility. * [gym/common/env] Make sure robot shared memory is reset after calling '_setup'. * [gym/common/env] Do not log error is observation is out-of-bounds, and only warning in debug. * [gym/common/env] Make sure the low-level engine memory address does not change. * [core/python] Avoid memory allocation by 'compute_systems_dynamics' for efficiency. * [gym/common] Add missing documentation for helper methods. * [gym/common/env] Fix 'gym.logger.warning' method not available. * [gym] Use tuple instead of list to store constant sequences to preserve value and type check. (#268)
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