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@duburcqa duburcqa released this 02 Mar 10:20
· 80 commits to master since this release
1.7.7
a1e571b
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Learn about vigilant mode.

The overall stability and reliability has been improved, with a strong focus on the viewer. The support of 'gepetto-gui' has been dropped as it was platform-specific and missing key features.

New features

  • [python/viewer] Drop support of 'gepetto-gui' backend. (#482)
  • [gym/common] Enable to provide custom robot to 'WalkerJiminyEnv'. (#477)

Improvements

  • [core] Always regenerate original flexible model at reset to allow manual overwrite of rigid original model. (#475)
  • [python/viewer] Fallback to generic direct connection through ipykernel for Meshcat (VSCode, Jupyterlab). (#479)
  • [python/viewer] More robust comm filtering for executing meshcat related requests out of order. (#479)
  • [python/viewer] Speed up frame capture and reduce CPU load in offscreen mode for panda3d backend. (#481)
  • [gym/rllib] PPO supports dict and box spaces for observation/action. (#474)

Patches and bug fixes

  • [core] Fix segfault when adding unspecified constraint. (#476)
  • [core] Fix 'buildReducedModel' for pinocchio < 2.6.0. (#477)
  • [core] Fix segfault when initializing engine with null robot. (#477)
  • [python/viewer] Fix connection to existing meshcat process. (#479)
  • [python/viewer] Fix random segfault at exit for synchronous panda3d backend. (#484)
  • [gym/rllib] PPO L2 reg only on train params. (#485)

Miscellaneous

  • [gym/rllib] Refactor PPO implementation to support 'ray>=1.10.0'. (#474) (#485)
  • [misc] Use Ctest for managing C++ unit tests. (#475)

Co-authored-by: Alexis Duburcq alexis.duburcq@gmail.com

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