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[gym/zoo] Various speed-up. Improve robustness of PGS contact solver to poor conditioning. #770

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merged 7 commits into from
Apr 23, 2024
Merged

[gym/zoo] Various speed-up. Improve robustness of PGS contact solver to poor conditioning. #770

merged 7 commits into from
Apr 23, 2024

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@duburcqa duburcqa commented Apr 20, 2024 •
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  • [core] Solve joint bounds constraints after contacts to improve convergence.
  • [core] More robust serialization/deserialization from log.
  • [python/simulator] 'plot' now support multi-robot simulations.
  • [gym/common] Speedup 'integrate_zoh' by replacing masked vectorization for explicit loop.
  • [gym/common] More generic 'FilterObservation', 'StackedJiminyEnv' wrappers.
  • [gym/common] Significantly speedup 'StackedJiminyEnv' wrapper.
  • [gym/zoo] Refactor and speedup Ant, Cartpole and Acrobot environments.
  • [misc] Fix partially broken 'mypy' static type checking for 'jiminy_py' module.

Fixes #772

@duburcqa duburcqa force-pushed the misc branch 2 times, most recently from 294f1e2 to 5530fa7 Compare April 22, 2024 15:08
@duburcqa duburcqa mentioned this pull request Apr 22, 2024
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@duburcqa duburcqa enabled auto-merge (squash) April 22, 2024 19:29
@duburcqa duburcqa force-pushed the misc branch 3 times, most recently from 62e523d to df7914c Compare April 22, 2024 20:47
@duburcqa duburcqa merged commit daeb266 into dev Apr 23, 2024
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@duburcqa duburcqa mentioned this pull request Apr 28, 2024
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duburcqa added a commit that referenced this pull request Apr 28, 2024
@duburcqa
Jiminy release 1.8.5 (#777)
43a3f56 
* [core] Full support of serialization of 'Robot'. (#770) (#775) 
* [core] Do NOT use 'enable_shared_from_this' if not strictly necessary. (#775) 
* [core] Rename macro 'PRINT_WARNING' in 'JIMINY_WARNING' to avoid conflicts. (#775) 
* [python/simulator] 'plot' now support multi-robot simulations. (#770)
* [gym/common] Speedup 'PDController' env pipeline block. (#770)
* [gym/common] Speedup 'StackedJiminyEnv' wrapper. (#770)
* [gym/common] More generic 'FilterObservation', 'StackedJiminyEnv' wrappers.  (#770) (#776)
* [gym/common] Improve 'render_mode' support.
* [gym/zoo] Cleanup and speedup toy model environments. (#770)
* [gym/rllib] Fix multi-GPU support using custom PPO (#774)
* [gym/rllib] Fix 'train' method typing and documentation. (#775) 
* [misc] Fix partially broken 'mypy' static type checking for 'jiminy_py' module. (#770)
* [misc] Add RL tutorial notebook.
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[gym_jiminy] BaseJiminyEnv doesn't support single-robot simulators with a robot name different from ""
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