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Comprehensive environment pipeline design

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@duburcqa duburcqa released this 02 Dec 13:12
· 2 commits to master since this release
1.8.9
9d0f5aa
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Learn about vigilant mode.

The environment pipeline design has been streamlined. It is not only more versatile and faster but also less buggy. It should be ready now to be used for real-world applications.

New features

  • [gym_jiminy/common] Add 'AdaptLayoutObservation' that generalizes 'FilterObservation'. (#835)
  • [gym_jiminy/common] Add 'QuantityObserver' block. (#838)
  • [gym_jiminy/common] Enable env composition to augment the observation space with trajectory reference. (#838)
  • [gym_jiminy/common] Add 'ScaleObservation', 'ScaleAction' env pipeline wrapper blocks. (#839)

Improvements

  • [python/dynamics] Take into account stride offset when trajectory time is wrapping. (#838)
  • [python|gym_jiminy] More natural figure layout to improve readability. (#837)
  • [gym_jiminy/common] Do not permanently alter original simulation options with enabling debug and/or evaluation modes. (#832)
  • [gym_jiminy/common] Rewrite binary log file automatically when calling 'BaseJiminyEnv.stop' in debug or evaluation mode. (#832)
  • [gym_jiminy/common] Add previous action as input argument for evaluation policy callback. (#832)
  • [gym_jiminy/common] Automatic environment pipeline update. (#832)
  • [gym_jiminy/common] Improve numerical stability and speed of 'swing_from_vector'. (#834)
  • [gym_jiminy/common] Add support of 'none' in pipeline config files. (#834)
  • [gym_jiminy/common] Add 'ignore_unbounded' optional argument to flatten obs/act wrappers. (#834)
  • [gym_jiminy/common] Add 'compute_rpy' optional argument to mahony observer. (#837)
  • [gym_jiminy/common] Add 'compute_rpy' optional argument to deformation estimator. (#837)
  • [gym_jiminy/common] Add locking mechanism to trajectory databaset. (#838)
  • [gym_jiminy/common] More robust pipeline registration mechanism. (#838)
  • [gym_jiminy/common] Support string representation of enums in pipeline config. (#838)
  • [gym_jiminy/common] Faster env pipeline. (#841) (#842)
  • [gym_jiminy/toolbox] Add support of arbitrarily nested task-settable env. (#832)
  • [gym_jiminy/envs] Add mirror mat to obs/action spaces. (#832)

Patches and bug fixes

  • [core] Fix symbol visibility issues for some classes on windows. (#836)
  • [core] Fix bindings and serialization of convex geometry meshes. (#836)
  • [core] Fix 'array_copyto' helper. (#841)
  • [python/viewer] Fix 'add_camera'. (#831)
  • [python/viewer] Use firefox instead of chromium for offscreen rendering with meshcat to fix rendering on MacOS VM. (#832)
  • [python/viewer] Fix support of '-' in robot name. (#834)
  • [python/viewer] Fix conversion of 'hppfcl.Convex' to Panda3D. (#836)
  • [gym_jiminy/common] Disallow switch between evaluation and training mode when a simulation is running. (#832)
  • [gym_jiminy/common] Fix replay if no simulation is running. (#832)
  • [gym_jiminy/common] Fix composed reward computation. (#832)
  • [gym_jiminy/common] Use metaclass instead of inheritence for abstract classes. (#832)
  • [gym_jiminy/common] Enable typing of the obs and action spaces for 'gym.Env'. (#832)
  • [gym_jiminy/common] Fix nested gym space helpers. (#832)
  • [gym_jiminy/common] Fix missing final state when writing eval/debug log. (#834)
  • [gym_jiminy/common] Fix 'quat_multiply' to support in-place operation. (#834)
  • [gym_jiminy/common] Add twist estimate in internal mahony state if estimated. (#834)
  • [gym_jiminy/common] Fix mahony filter leaky integration for very small time constant. (#834)
  • [gym_jiminy/common] Check IMU and flex frames not empty when adding Mahony filter. (#834)
  • [gym_jiminy/common] Fix base 'BaseJiminyEnv.stop' not called in pipeline. (#834)
  • [gym_jiminy/common] Support pipelines without any layer. (#834)
  • [gym_jiminy/common] Make sure that the initial PD controller state is within bounds. (#835)
  • [gym_jiminy/common] Fix trajectory file never closed if loading fails. (#838)
  • [gym_jiminy/common] Add composition wrapper before observer-controller blocks. (#838)
  • [gym_jiminy/common] Fix 'AdditiveMixtureReward' for 'order=inf'. (#838)
  • [gym_jiminy/common] Fix partially broken 'spaces.build_reduce'. (#839)
  • [gym_jiminy/rllib] Full refactoring to support ray-rllib 2.38. (#832)
  • [misc] Drop support of Python<3.10. (#831)
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