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[core] New type of pre-defined coupling force.
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@duburcqa duburcqa released this 04 Feb 18:28
· 136 commits to master since this release
1.5.8
5709b3b
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Another small release consisting mainly in bug fixes. In addition, a new type of pre-defined visco-elastic coupling force has been added, acting independently in each direction instead of only along coupling direction.

New features

  • [core] Add non-directional visco-elastic coupling force (acting independently in each direction).

Improvements

  • [core] Fix adaptive RK dopri stepper MAX_FACTOR wrongly scaled by SAFETY factor.
  • [gym/common/envs] Do not log internal steps in debug mode to keep log consistent with experience replay.

Bug fixes

  • [core] Fix visco-elastic directional coupling force.
  • [core] Fix pinocchio_data updated with joint forces not taking into account the external forces.
  • [core] Fix telemetry logging failed internal stepper steps.
  • [core] Fix wrong computation of multi-systems coupling forces.
  • [python/viewer] Fix replay using rigid instead of flexible model.
  • [python/viewer] Fix mesh path on windows.

Miscellaneous

  • [gym/common] Rename 'size' argument of 'sample' method in 'shape' for consistency with standard API.
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