[gym_jiminy/common] Improve performance of composition pipeline. #857
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
Owner
duburcqa
commented
Jan 7, 2025
•
duburcqa
commented
- [python/dynamics] Enable caching of trajectory state for efficiency.
- [gym_jiminy/common] Improve performance of composition pipeline.
- [gym_jiminy/common] Refactor 'StackedQuantity' to improve performance for aggregated large stack.
… for aggregated large stack.
Merged
duburcqa
added a commit
that referenced
this pull request
Jan 14, 2025
* [core] Properly handle undefined motor velocity bounds. (#849) * [core] Rename 'positionLimit(Min|Max)' in 'positionLimit(Lower|Upper)' for consistency with Pinocchio. (#849) * [core] Move 'logInternalStepperSteps' from 'stepper' to 'telemetry' options for consistency. (#852) * [core] Fix rounding error when computing impulse force breakpoints. (#852) * [core] Fix wrong time 't' when computing derivative after successful integration. (#852) * [core] Fix joint jacobian not systematically updated when dealing with external forces. (#852) * [core] Fix impulse forces internal state not properly reset. (#853) * [core] Set extended pinocchio model velocity and effort limits to INF. (#855) * [core] Improve error handling in 'Engine.read_log'. (#859) * [core/python] Passing invalid bit generator to random processes raises proper exception. (#846) * [python] Improve exception trackback logging as warning. (#856) * [python/simulator] Fix replay of extra log files and trajectories. (#848) * [python/tree] Add specialized 'deepcopy' operator for nested data structure. (#852) * [python/robot] Fix default hardware generation. (#852) * [python/dynamics] 'Trajectory.get' systematically returns by value. (#846) * [python/dynamics] Enable caching of trajectory state for efficiency. (#857) * [gym_jiminy/common] Fix wrong initial RPY observation for Mahony filter. (#844) * [gym_jiminy/common] Add estimated IMU angular velocity to Mahony filter observation. (#844) * [gym_jiminy/common] Add 'BodyObserver' to get orientation and angular velocity of IMUs' parent bodies. (#844) * [gym_jiminy/common] Fix 'BaseJiminyEnv.play_interactive'. (#845) * [gym_jiminy/common] Share base engine measurement through all the layers of the pipeline. (#845) * [gym_jiminy/common] Stop relying on 'true' sensor measurements in computations. (#845) * [gym_jiminy/common] Stop relying on stepper_state to get current time. (#845) * [gym_jiminy/common] Add soft motor effort limit to 'MotorSafetyLimit' block. (#846) * [gym_jiminy/common] 'MultiFootNormalizedForceVertical' raises proper exception in case of non-contiguous contact frames. (#846) * [gym_jiminy/common] Fix sensor noise/bias for locomotion env. (#846) * [gym_jiminy/common] Add aggregated 'terminated', 'truncated' info key for composite env. (#847) * [gym_jiminy/common] Add PD controller mode to force instantaneous state update. (#847) * [gym_jiminy/common] More robust projected support polygon computation. (#847) * [gym_jiminy/common] Clip velocity/acceleration for instantaneously PD target update. (#848) * [gym_jiminy/common] Fix plot of manually registered env variables. (#848) * [gym_jiminy/common] More robust random seed initialization. (#849) * [gym_jiminy/common] Add option to avoid clipping target motor accelerations of PD controller. (#849) * [gym_jiminy/common] Do not overwrite 'BaseJiminyEnv.(observation|action)' if already defined. (#849) * [gym_jiminy/common] Support additional 'special' string when loading pipeline from toml. (#849) * [gym_jiminy/common] 'ConvexHull2D.get_distance_to_point' now supports single query. (#849) * [gym_jiminy/common] Try initializing quantities even if no simulation is running. (#849) * [gym_jiminy/common] Clear exception message if nested key is missing. (#849) * [gym_jiminy/common] Move leaky twist from mahony filter to body observer. (#849) * [gym_jiminy/common] Add target joint velocity deadband to PD controller. (#849) * [gym_jiminy/common] Fix 'ControlledJiminyEnv.action' not reset during setup. (#849) * [gym_jiminy/common] Increase simulation timeout delay. (#849) * [gym_jiminy/common] Fix Mahony filter angular velocity estimate. (#850) * [gym_jiminy/common] Fix partially broken deformation observer. (#850) * [gym_jiminy/common] Make sure that the initial scaled observation is valid. (#850) * [gym_jiminy/common] Plot variables in reverse registeration order. (#852) * [gym_jiminy/common] Jit 'np.mean' for efficiency. (#852) * [gym_jiminy/common] Various minor performance improvements. (#852) * [gym_jiminy/common] Set default (control|observe)_dt in '_setup' instead of 'reset'. (#852) * [gym_jiminy/common] Only register block telemetry variables in debug or evaluation mode. (#852) * [gym_jiminy/common] Fix 'ShiftTrackingQuantityTermination' grace period shorter than horizon. (#853) * [gym_jiminy/common] Fix reliable identity check for enums. (#854) * [gym_jiminy/common] Fix Capture Point quantity initialization messing up with global state. (#854) * [gym_jiminy/common] Fix handling of state initialization failure. (#854) * [gym_jiminy/common] Fix auto-refresh of quantities not working when caching is enabled. (#854) * [gym_jiminy/common] Optimize cache order reset to avoid resetting multiple times the same quantity. (#854) * [gym_jiminy/common] Robust ZMP computation when robot is free falling. (#854) * [gym_jiminy/common] 'sample' does not return 'np.ndarray' systematically. (#855) * [gym_jiminy/common] Add support of 'augment_observation' with reference trajectory in pipeline config file. (#855) * [gym_jiminy/common] Add support of time offset to trajectory dataset. (#855) * [gym_jiminy/common] Fix 'evaluate' total reward computation. (#856) * [gym_jiminy/common] 'BaseJiminyEnv.evaluate' now returns both reward and info history. (#856) * [gym_jiminy/common] Improve performance of composition pipeline. (#857) * [gym_jiminy/common] Refactor 'StackedQuantity' to improve performance for aggregated large stack. (#857) * [gym_jiminy/common] Add 'order' input argument to 'build_flatten'. Speed up 1D special case. (#859) * [gym_jiminy/common] Use fortran order for flattening wrappers 'Flatten(Observation|Action)'. (#859) * [gym_jiminy/common] Train/eval mode API of InterfaceJiminyEnv is now consistent with PyTorch. (#859) * [gym_jiminy/common] Refactor evaluation log file logics to allow for parallel evaluation. (#859) * [gym_jiminy/rllib] Log num steps instead of num iterations in abscisse. Robust eval to unavailable log file. (#847) * [gym_jiminy/rllib] Update acrobot example. (#847) * [gym_jiminy/rllib] Specify infer obs/act mirroring spec in args w/o relying on space. Only support vector obs/act. (#859) * [gym_jiminy/rllib] Fix extremely slow shallow batch copy. (#859) * [gym_jiminy/rllib] Fix broken 'MeanStdFilter' for 'ray<=2.40'. (#859) * [gym_jiminy/rllib] Fix true action mean computation. (#860) * [gym_jiminy/rllib] Monkey patch RLlib. (#860) * [misc] Rename 'mesh_path_dir' in 'mesh_dir_path' for consistency. (#848) * [misc] Cleanup linux build from source script. (#848) * [misc] Add support of 'gymnasium==1.0'. (#859) * [misc] Add support of 'ray[rllib]==2.40'. (#859)
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.