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@duburcqa duburcqa released this 02 Jan 13:18
· 23 commits to master since this release
1.7.18
e0f7655

As usual, many bugs have been fixed. Most of them are related to the viewer and a few others are related to the core engine but none are critical. It is supposed to be the latest 1.7.X release since breaking changes are planned.

New features

  • [core] Add option to set baumgarte position and velocity gains separately. (#647)
  • [python/viewer] Add async mode with panda3d backend. (#664)
  • [python/viewer] Add support of torus and partial cylinder with panda3d. (#672)
  • [gym/toolbox] More orientation conversion utils. (#430)
  • [gym/zoo] Add 'digit' bipedal robot. (#430)

Improvements

  • [core] Do not enforce configuration bounds at init for spring-damper contact model. (#654)
  • [core] Rename 'FixedFrameConstraint' in 'FrameConstraint'. (#677)
  • [core/python] Add partial support of 'pathlib.Path' objects. (#672)
  • [python/robot] Improve default hardware file generation. (#430)
  • [gym/common] PD controller block now support unbounded joints. (#430)
  • [gym/toolbox] More generic vectorized (batched) SO3 utils. (#652)

Patches and bug fixes

  • [core] Fix inconsistent adaptive stepper error computation. (#647)
  • [core] Fix rare edge-case causing segfault when setting options. (#647)
  • [core] Fix inertia projection formula. (#649)
  • [core] Fix serialization of geometry objects. (#430)
  • [core] Fix exception when saving binary log file with empty variables. (#430)
  • [core] Fix flexible from/to rigid config helpers. (#659)
  • [core] Fix non-repeatable simulation due to partial hyteresis reset. (#662)
  • [core] Fix wrong state and derivative during computation of extra terms. (#684)
  • [core] Fix internal effort computation. (#684)
  • [python/simulator] Fix exception when manually closing viewer. (#684)
  • [python/plot] Fix minor plotting bugs. (#647)
  • [python/viewer] Fix replay viewer exception for 1DoF systems using 'panda3d-sync'. (#648)
  • [python/viewer] Fix viewer closing exception handling with panda3d backend. (#672)
  • [python/viewer] Fix wrong anchor for cylinders and arrows with panda3d. (#672)
  • [python/viewer] Fix some edge-cases with panda3d backend. (#673) (#675)
  • [python/viewer] Fix memory leaks caused by 'atexit' registration. (#683)
  • [python/viewer] Fix exception handling at init. (#684)
  • [gym/common] Fix wrong frame name for default relative camera pose. (#430)

Miscellaneous

  • [core] Refactor C++ project structure and modernize coding style. (#653) (#655) (#656) (#656) (#656) (#659) (#674) (#677) (#678) (#681) (#682) (#683)
  • [misc] Apply clang format to the whole C++ codebase. (#651) (#656)
  • [misc] Update all C++ dependencies. (#669) (#672)
  • [misc] More robust boost python shared lib detection on MacOS. (#680)
  • [misc] Enable back python stubs generation on OSX. (#680)
  • [misc] More robust build script on unix systems. (#683)
  • [misc] Fix documentation generation. (#647)
  • [misc] Fix notebook tutorial. (#648)
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