[misc] Add support of 'gymnasium==1.0' and 'ray[rllib]==2.40'. #859
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duburcqa
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Jan 8, 2025
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duburcqa
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- [core] Improve error handling in 'Engine.read_log'.
- [gym_jiminy/common] Add 'order' input argument to 'build_flatten'. Speed up 1D special case.
- [gym_jiminy/common] Use fortran order for flattening wrappers 'Flatten(Observation|Action)'.
- [gym_jiminy/common] Train/eval mode API of InterfaceJiminyEnv is now consistent with PyTorch.
- [gym_jiminy/common] Refactor evaluation log file logics to allow for parallel evaluation.
- [gym_jiminy/rllib] Specify infer obs/act mirroring spec in args w/o relying on space. Only support vector obs/act.
- [gym_jiminy/rllib] Fix extremely slow shallow batch copy.
- [gym_jiminy/rllib] Fix broken 'MeanStdFilter' for 'ray<=2.40'.
- [misc] Add support of 'gymnasium==1.0'.
- [misc] Add support of 'ray[rllib]==2.40'.
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…eed up 1D special case.
…n(Observation|Action)'.
…elying on space. Only support vector obs/act.
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…parallel evaluation.
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* [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)
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