[core] Compute PGS error in residual space. #462
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
duburcqa
changed the title
duburcqa
force-pushed
the
pgs_stop
branch
2 times, most recently
from
a94541a to
2c0e0ee
Compare
duburcqa
changed the title
duburcqa
added a commit
that referenced
this pull request
Dec 10, 2021
* [core] Enforce isotropic solution for PGS. (#467) * [core] Compensate PGS bias to ensure maximum energy dissipation for tangential friction. (#468) * [core] Compute PGS error in residual space. (#462) * [core] PGS skip parameter update if irrelevant. (#464) * [core] Force sensors now measure total external force applied on a body. * [core] Split constraint and contact options. (#462) * [core] Move to next breakpoint if possible to avoid very small timesteps during integration. (#464) * [core] Fix non-linear PGS solving of friction cone. (#461) * [core] Fix 'removeContactPoints' if input vector is empty. * [core] Fix timestep adjustment for fixed timestep euler explicit stepper. (#464) * [core] Fix baumgarte stabilization of orientation for 'FixedFrameConstraint'. (#465) * [core] Fix json dump for empty dictionary. (#466) * [core] Remove random permutation from PGS since preserving order is important. (#467) * [core] Fix 'JointConstraint' position difference not properly computed. (#469) * [core] Fix telemetry header to null terminate leading to segfault. (#469) * [core] Fix inconsistency between flexible model and data. (#469) * [core] Use 'impulse' contact model as default. (#462) * [core] Modify 'FixedFrameConstraint' to set ground normal instead of local rotation. (#464) * [core] Order 'FixedFrameConstraint' components by solving order. (#467) * [python/viewer] Add 'frame' markers. (#464) * [python/viewer] Add support of 'pin.SE3' object for marker pose. (#465) * [python/viewer] Support specifying marker orientation using rotation matrix. (#464) * [python/log] Fix segfault when loading robot from log. (#466) * [python/viewer] Exception handling and timeout if backend recorder for meshcat fails to open. (#452) * [python/viewer] Avoid crashing when replying simulations with 'nan'. (#458) * [python/viewer] Fix extraction of available sensor data for replay. (#463) * [python/viewer] Keep floor hidden even if updated if it was previously hidden for panda3d backend. (#463) * [python/viewer] Fix 'display' method if velocity is not provided. (#463) * [python/viewer] Fix body selection for panda3d. (#465) * [python/viewer] Do not overwrite color for 'frame' marker by default. (#464) * [gym/common] Improve exception handling during 'step'. (#458) * [gym/common] Do not try to register action to telemetry if empty. * [gym/common] Add 'evaluate' method to evaluate a callback policy over a whole episode. (#453) * [gym/common] Rename 'refresh_*' in 'initialize_' when appropriate. (#466) * [gym/common] Rename 'refresh_internal' in 'refresh_buffers' and add 'initialize_buffers' method. (#466) * [gym/envs] Reduce KD gain for AkY joints of Atlas to prevent numerical instability. (#464) * [gym/envs] Automatically detect relevant contact points for Atlas. (#464) * [misc] Update python packages description and development status. (#458) * [misc] Run unit tests in debug mode on Ubuntu 20.04. (#469) Co-authored-by: Alexis Duburcq <alexis.duburcq@wandercraft.eu>
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
No description provided.