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[python/viewer] Display Capture Point and external forces.
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@duburcqa duburcqa released this 17 May 09:54
· 102 commits to master since this release
1.6.16
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Learn about vigilant mode.

Following the previous release, this one adds new markers to help analyze simulations, especially for locomotion tasks of bipedal robots. It is now possible to display the Capture Point (also called DCM) and external forces. Besides, Reinforcement Learning tools based on RLLib have been improved and a few bugs have been fixed.

New features

  • [python/processing] Add convex hull utilities.
  • [python/viewer] Add option to display DCM in viewer.
  • [python/viewer] Add option to display external linear forces at joint level in viewer.

Improvements

  • [core] Add option to register external forces to the telemetry.
  • [core] Compute velocity of the center of mass of each subtree systematically.
  • [python/processing] Improve efficiency and versatility of 'interpolate_zoh'.
  • [python/log] Extract external forces from log if recorded.
  • [python/viewer] Improve efficiency of markers update.
  • [python/viewer] 'jiminy_replay' entrypoint can now be used to record video.
  • [gym/examples] Add monitoring of episode duration.

Patches and bug fixes

  • [core] Fix internal update period computation when defined control and sensor update period of the engine without robot.
  • [python/robot] Add fallback if 'dynamics' fields 'damping'/'friction' are partially defined in URDF file.
  • [python/viewer] Fix default display marker value if backend is not Panda3d.
  • [gym/examples] Fix logging performance issues of RLlib.

Miscellaneous

  • [gym/examples] Improve documentation of RLlib tools.
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