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@duburcqa duburcqa released this 28 Apr 20:33
· 16 commits to master since this release
1.8.5
870afc6

Robots are now fully serialized in log files, including all their hardware but not their controller. This means that they can be used for running new simulation without any issue. Previously, they are only suitable for viewer replay. Apart from that, some outdated environment pipeline wrappers have been refactored to significantly improve their performance.

New features

  • [core] Full support of serialization of 'Robot'. (#770) (#775)

Improvements

  • [core] Log the acceleration both at the end and the beginning of a step if dynamics has changed. (#779)
  • [python/simulator] 'plot' now support multi-robot simulations. (#770)
  • [gym/common] Speedup 'PDController' env pipeline block. (#770)
  • [gym/common] Speedup 'StackedJiminyEnv' wrapper. (#770)
  • [gym/common] More generic 'FilterObservation', 'StackedJiminyEnv' wrappers. (#770) (#776)

Patches and bug fixes

  • [core] Fix pessimistic step adjustment that could lead to undeserved integration failure.
  • [core] Fix inconsistent acceleration after updating discrete-time controller command. (#779)
  • [gym/common] Improve 'Env.render_mode' support.
  • [gym/rllib] Fix multi-GPU support using custom PPO (#774)

Miscellaneous

  • [gym/zoo] Cleanup and speedup toy model environments. (#770)
  • [misc] Add RL tutorial notebook.
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