[core] Compensate PGS bias to ensure maximum energy dissipation for tangential friction. #468
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…angential friction.
duburcqa
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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>
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