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@duburcqa duburcqa released this 27 Oct 11:34
· 84 commits to master since this release
1.7.3
0369d72
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Learn about vigilant mode.

The simulator and viewer is now compatible with robots created manually from scratch without relying on URDF. Additionally, PGS solver with default parameters is now much faster thinks to SIMD vectorization and lower accuracy. The provided Cassie and Atlas environment have been tuned to improve the real time factor, which is now close to 50 on a single core.

New features

  • [core] Enable to initialize 'jiminy::Robot' pinocchio models directly..
  • [python/robot] Enable to load hardware config on existing robot.
  • [gym/envs] Add atlas env with fixed upper body.

Improvements

  • [core] Faster PGS solver. (#423)
  • [core] Add dedicated contact solver options 'tolAbs', 'tolRel'. (#424)
  • [core] Add 'name' getter to 'jiminy::Model', which is a proxy for URDF name.
  • [core] Add visual model to 'jiminy::Model' to avoid relying on URDF for rendering
  • [core/python] Add helper method to build reduced model.
  • [python] Do not rely on 'Robot.urdf_path' anymore.
  • [python/robot] Check if motors and sensors defined in hardware file can be added successfully.
  • [gym/common] Make sure the provided neutral configuration is valid.

Patches and bug fixes

  • [core] Fix wrong computation of external forces.
  • [python/dynamics] Fix 'compute_freeflyer_state_from_fixed_body' method if fixed body is not provided.

Miscellaneous

  • [gym/envs] Tune Cassie and Atlas to improve numerical stability using impulse contact model.
  • [misc] Fix support of matplotlib >= 3.4.
  • [misc] Stricter gym_jiminy optional deps requirements. (#425)
  • [misc] Fix gym_jiminy wheels deployement on pypi (again!).
  • [misc] Fix documentation generation.
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