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@duburcqa duburcqa released this 06 Apr 06:04
· 79 commits to master since this release
1.7.8
6a85af1

A new custom constraint solver has been implemented. It is more reliable and convergences faster (less than 10 iterations most of the time). The speed is about the same as before the addition of friction cone and maximum energy dissipation. Hardware compatibility issues of Panda3d with some integrated Intel GPU have been addressed and off-screen parallel rendering is now supported. Finally, the recording speed has been greatly improved with Panda3d (x2).

New features

  • [core] Add random sensor jitter.
  • [python/viewer] Add synchronous panda3d backend for subprocess rendering.
  • [python/viewer] Support opening viewer without robot.

Improvements

  • [core] Faster and more reliable constraint solver.
  • [core] Avoid discontinuities at init by starting with contact enabled and adding transitionEps for joint bounds.
  • [core] Faster computation of extra terms (subtree inertias and com, centroidal dynamics)
  • [python/viewer] Dynamic update of available/default backend.
  • [python/viewer] Speed-up x2 replay video recording for panda3d backend.
  • [gym/common] Automatically render ground profile.

Patches and bug fixes

  • [core] Fix potential mismatch between collision pairs and constraints.
  • [core] Fix engine not reset at start if not done before.
  • [core] Initialize stepper with smallest timestep to avoid peaks at init.
  • [core] Enable config baumgarte freq for user-specified constraints.
  • [core] Remove dedicated tolerance for PGS solver.
  • [python/viewer] Fix support of Intel GPU for rendering and on-demand Nvidia with panda3d.
  • [python/viewer] Default to sync panda3d backend if onscreen impossible.
  • [python/viewer] Disable shader in headless mode with panda3d to avoid segfault.
  • [python/viewer] Use physics-based shader on Intel GPU with Panda3d.
  • [gym/common] Fix init sensor data proxy and send llc command.
  • [gym/common] Use fastest modern rng 'SFC64'.

Miscellaneous

  • [misc] Update ANYmal robot model.
  • [misc] Add support of Gym<0.24.0.
  • [misc] Fix support of ray==1.10.0
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