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Full set of quantities and reward components

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@duburcqa duburcqa released this 19 Jun 05:23
1.8.7
78d0195

The previous release populates the quantities and reward component toolboxes recently introduced with generic and commonly used building blocks of a complete learning pipeline. Various bugs attributed to the early stage development of this toolbox has been fixed and now its core is expected to be significantly more mature. The pre-defined learning environment for Atlas using PD controllers now has a real time factor of 140 on a single core (Apple M3 Max).

New features

  • [core] Add option to log constraint lambda multipliers. (#809)
  • [python|gym] Add contraint lambda multipliers to state and extracted trajectory. (#809)
  • [gym/common] Add 'log3|6', 'exp3|6', '(xyz)quat_difference', and 'quat_apply' vectorized math utils. (#807)
  • [gym/common] Add unary operator quantity. (#803)
  • [gym/common] Add odometry pose quantity. (#803)
  • [gym/common] Add mean quaternion quantity. (#804)
  • [gym/common] Add foot odometry pose quantity. (#804)
  • [gym/common] Add relative foot poses quantity. (#805)
  • [gym/common] Add foot vertical forces quantity. (#810)
  • [gym/common] Add base angular momentum quantity and reward. (#807)
  • [gym/common] Add relative foot positions and orientations tracking reward. (#807)
  • [gym/common] Add actuated joint tracking reward. (#803)
  • [gym/common] Add tracking base height reward. (#803)
  • [gym/common] Add foot pose tracking reward. (#806)
  • [gym/common] Add cature point quantity and capture point tracking reward. (#803)
  • [gym/common] Add angular momentum minimisation reward. (#808)
  • [gym/common] Add projected support polygon zmp stability margin maximisation reward. (#808)
  • [gym/common] Add ground contact friction minimisation reward. (#808)
  • [gym/common] Add foot force distribution reward. (#810)

Improvements

  • [core] Allow integer reduction ratio at motor level for unbounded revolute joints. (#803)
  • [gym/common] Robust deletion of quantities in control flow. (#803)
  • [gym/common] Add support of multi-frame quantities. (#804)
  • [gym/common] Unify all frame orientation representations as one quantity. (#805)
  • [gym/common] Refresh state quantities only if needed. (#809)

Patches and bug fixes

  • [core] Make sure no constraint is added/removed if simulation is running. (#809)
  • [python/dynamics] Fix trajectory interpolation preferring t+ over t-. (#809)
  • [gym/common] Fix reset of automatically refreshed quantities. (#803)
  • [gym/common] Fix quantity eval mode handling. (#803)
  • [gym/common] Fix reward deletion cleanup. (#803)
  • [gym/common] Fix env action not cleanup at reset. (#803)

Miscellaneous

  • [core] Enforce unique constraint name per registry not globally, then remove now irrelevant helpers. (#809)
  • [core] Replace constraint tree node terminology for registry for clarity. (#809)
  • [core] Rename 'runge_kutta_dopri5' in 'runge_kutta_dopri' for clarity. (#810)
  • [python/viewer] Fix support of 'matplotlib>=3.9.0'. (#803)
  • [gym/common] Remove error-prone, confusing and slow 'getattr' fallback in pipelines. (#808)
  • [misc] Fix segfault on windows due to vcruntime conflicts. (#808)
Assets 2