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@duburcqa duburcqa released this 16 Oct 08:16
· 86 commits to master since this release
1.7.1
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Learn about vigilant mode.

Random terrain generation tools have been translated from Python to C++ to significantly improve efficiency. New utilities to merge and sum random tile ground has been added to generate feature-rich ground profiles without noticeable slowdown wrt flat ground. In addition, it has been made easier to register new variables to the telemetry dynamically and retrieve data from logfiles.

Nota bene: gym_jiminy release were not deployed on pypi since 1.6.27. This problem has been fixed now but there is no plan to add back the missing ones.

New features

  • [core] Add tools to merge and sum heightmaps.
  • [gym/common] Add 'BaseJiminyEnv.register_variable' method easily log variables.
  • [gym/rllib] Add adversarial obs perturbation sampling for spatial regularization. (#414)

Improvements

  • [core] Write terrain generation tools in C++ for efficiency.
  • [core] Enable to re-initialize controllers.
  • [core/python] It is now possible to extract raw python function from 'HeightMapFunctor' if any.
  • [python/viewer] Faster ground profile rendering.
  • [python/viewer] Do not render ground profile if original flat ground.
  • [gym/common] Generic structured space handling by relying on 'dm-tree' package.
  • [gym/common] Support any observation space in gym pipelines.

Miscellaneous

  • [core] Rename 'HeatMap' in 'Heightmap'.
  • [misc] Fix CI not pushing gym_jiminy wheels on pypi.
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