Skip to content

Add deformation estimator block
Compare
Choose a tag to compare
@duburcqa duburcqa released this 07 Mar 11:03
· 19 commits to master since this release
1.8.3
4e977cb
This commit was created on GitHub.com and signed with GitHub’s verified signature.
GPG key ID: B5690EEEBB952194
Learn about vigilant mode.

A observer block for multiple punctual deformations has been implemented at position-level only. This is based on the work of Matthieu Vigne et al.. In addition, a bunch of minor bugs has been fixed as usual.

New features

  • [gym/common] Add 'DeformationEstimator' block. (#732)

Improvements

  • [core] More bad control flow checks. (#730)
  • [core/python] 'Model' can now be instantiated from Python. (#730)
  • [gym/common] Add 'compute_tilt_from_quat', 'swing_from_vector', and 'remove_twist_from_quat'. (#731)
  • [gym/common] Allow negative block update period to match env step. (#734)

Patches and bug fixes

  • [core] Fix broken 'getRigidVelocityFromFlexible'. (#732)
  • [core/python] Fix partially broken 'FunctionalController' bindings. (#730)
  • [core/python] Fix multiple typos. (#731)
  • [python/simulator] Fix 'robot' and 'robot_state' corrupted if robot is replaced. (#731)
  • [gym/common] Fix 'refresh_observation' being called before 'initialize_buffers' at simulation start. (#731)
  • [gym/common] Fix broken mahony filter for 'twist_time_constant != None'. (#731)
  • [gym/common] Fix support of non-batched mode for generic math. (#731)
  • [gym/common] Fix 'matrix_to_rpy' to be consistent with 'pin.matrixToRpy'. (#731)
  • [gym/envs] Fix broken 'Ant' environment. (#731)

Miscellaneous

  • [core] Print warnings even for release build type. (#731)
  • [gym/common|gym/toolbox] Promote generic SE3 math utilities from toolbox to common module. (#731)
  • [misc] Update documentation. (#736)
Assets 2
Loading