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[misc] Various minor improvements.
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@duburcqa duburcqa released this 03 Jun 22:05
· 102 commits to master since this release
1.6.18
f820f94
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Learn about vigilant mode.

This release only consists of minor quality-of-life improvements. In addition, a few bugs in Jiminy viewer have been fixed, and a more robust initial guess is provided to the 'impulse' contact solver to improve continuity of contact forces.

Improvements

  • [core] Provide robust initial guess to 'impulse' contact solver.
  • [gym/common] 'sample' now supports providing both 'shape' and vector 'low'/'high'/'mean'/'scale' if broadcastable.

Patches and bug fixes

  • [python/viewer] Fix clicking on node for panda3d Qt widget.
  • [python/viewer] Fix seldom lock issues when displaying many robots simultaneously.

Miscellaneous

  • [gym/examples/rllib] Start ray backend in local mode in debug.
  • [gym/examples/rllib] More robust observation flattening.
  • [gym/examples/rllib] Interrupt learning gracefully in case of ray task exception.
  • [gym/examples/rllib] Do not replay if recording is disable during training.
  • [gym/examples/rllib] Add option to use custom logger.
  • [gym/examples/rllib] Add option to save checkpoint every given number of training iterations.
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