[gym/common] Refactor quantity management to dramatically improve its performance. #821
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Jul 6, 2024
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- [core] Fix robot serialization issue.
- [python/simulator] Consistent keyword arguments between 'Simulator.build' and 'Simulator.add_robot'.
- [gym/common] Fix quantity hash collision issue in quantity manager.
- [gym/common] Refactor quantity management to dramatically improve performance.
- [gym/common] Add 'order' option to 'AdditiveReward'.
…ild' and 'Simulator.add_robot'.
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* [core] Fix robot serialization issue. (#821) * [core] Minor improvement periodic Perlin process and periodic stair ground. (#799) * [core] 'PeriodicGaussianProcess' and 'PeriodicFourierProcess' are now differentiable. (#799) * [core] Fix negative time support for all existing random processes. (#799) * [core] Add N-dimension Perlin processes. (#799) (#823) * [core] Add gradient computation for all Perlin processes. (#799) (#823) (#825) * [core] Make all Perlin processes faster and copy-able. (#799) * [core] Add Perlin ground generators. (#799) * [core] Replace MurmurHash3 by xxHash32 which is faster. (#824) * [core] Make gradient computation optional for heightmap functions. (#824) * [jiminy_py] Fix 'tree.unflatten_as' mixing up key order for 'gym.spaces.Dict'. (#819) * [python/simulator] Consistent keyword arguments between 'Simulator.build' and 'Simulator.add_robot'. (#821) * [python/viewer] Fix MacOS support. (#822) * [python/viewer] Add support of user-specified extra cameras (rgb and depth). (#826) * [python/viewer] Significantly speed-up both offscreen and onscreen rendering for Panda3D. (#826) * [gym/common] More generic stacking quantity. (#812) * [gym/common] Add termination condition abstraction. (#812) * [gym/common] Add quantity shift and drift tracking termination conditions. (#812) * [gym/common] Add support of termination composition in pipeline environments. (#812) * [gym/common] Add base roll/pitch termination condition. (#813) * [gym/common] Add base relative height termination condition. (#813) * [gym/common] Add foot collision termination condition. (#813) * [gym/common] More generic actuated joint kinematic quantity. (#814) * [gym/common] Add multi-ary operator quantity. (#814) * [gym/common] Add safety limits termination condition. (#814) * [gym/common] Add robot flying termination condition. (#815) * [gym/common] Add power consumption termination condition. (#816) * [gym/common] Add ground impact force termination condition. (#816) * [gym/common] Add base odometry pose drift tracking termination condition. (#817) * [gym/common] Add motor positions shift tracking termination condition. (#817) * [gym/common] Add relative foot odometry pose shift tracking termination conditions. (#820) * [gym/common] Add unit test checking that observation wrappers preserve key ordering. (#820) * [gym/common] Fix quantity hash collision issue in quantity manager. (#821) * [gym/common] Refactor quantity management to dramatically improve its performance. (#821) * [gym/common] Add 'order' option to 'AdditiveReward'. (#821) * [misc] Fix missing compositions documentation. (#812) --------- Co-authored-by: Mathias Wulfman <101942083+mwulfman@users.noreply.github.com>
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