Jiminy-py

Jiminy_py viewer recorder is hanging on Windows 10 for Python 3.6 because the subprocess creation is silently failing.

This release improves the stability of the viewer. In addition, it introduces a default color cycle when replying simulation for multiple robots at once (7 different colors).

Improvements:
* [python/viewer] Add default colors if multiple robot are replayed at the same time.
* [python/viewer] Redirect meshcat backend std_err to devnull to avoid flooding main thread.

Bug fixes:
* [core] Fix jiminy.Robot multiple initialize.
* [python/viewer] Fix edge case make the robot not appear in viewer if closed manually and reopen with same name.
* [python/viewer] Handle backend process kill timeout exceptions.

Miscellaneous:
* [misc] Disable automatic forward compatibility of numba to avoid potential install failure.

This release adds camera motion planning capability, and significantly improves the stability of log plotting and replaying utilities.

New features:
* [python/viewer] Add new camera motion planning when replying trajectories.

Improvements:
* [python/viewer] Enable to change urdf color in already instantiated viewers.
* [python/viewer] Enable to set relative camera pose in Meshcat.
* [python/viewer] Rework travelling to be more flexible and more sure only is enable at a time.

Bug fixes:
* [python/simulator] Catch more exceptions.
* [python/simulator] Ensure proper argument forwarding for 'replay' method.
* [python/simulator] Fix bugs and glitches for 'plot' method. Disable inter-tab sync of x-axis (time).
* [python/viewer] Fix global attributes not reset if backend viewer is closed by user manually.
* [python/viewer] Fix color not taken into account in some cases.

Miscellaneous:
* [python/simulator] Forbid calling 'render' method if no simulation running.
* [python/viewer] Improve typing of 'play_trajectories'.
* [python|gym] Move 'replay' method from 'BaseJiminyEnv' to 'Simulator'.

This release introduces a new position/velocity bounds model that should be both more strict and more stable numerically. It acts at kinematic level instead of dynamics and absorb more energy to reduce bouncing effect. In addition, motor inertia is now taken into account for any type of 1dof joints, and the associated custom `aba`, `rnea` and `kinematicEnergy` methods are exposed in Python.

New features:
* [core/python] Expose custom pinocchio algorithms to support motor inertia.
* [core] Bounds limits efforts are now proportional to joint's subtree inertia.

Improvements:
* [core] Remove blending factor for joint bounds because it does more harm than good.
* [core] Add support of translation joints.
* [core] Support any 1D type of joints for rotor inertia.
* [core/python] Ensure constness when passing C++ variables to Python handles.
* [gym] Disable engine timeout if debug enable.

Bug fixes:
* [core] Fix edge case when reading log after calling start and no actual data is available.
* [python/simulator] Reset viewer when calling 'reset' method to avoid corrupted viewer internal state.
* [python/viewer] Various minor bug fixes.

Miscellaneous:
* [core] PRINT_* macros do not terminate by ;
* [core] Use C++17 constexpr in some places.
* [core] Add constexp 'is_pinocchio_joint_*_v' to determine the type of joint at compile type.
* [core] Improve get joint type getter to use joint visitor instead of string comparison.

It is now possible to load pipeline learning environment from file (json or toml). Here an example of configuration file:
toml
Choose the environment
[env_config]
env_class = "gym_jiminy.envs.ANYmalJiminyEnv"
[env_config.env_kwargs]

This release achieves the work of generic pipeline design by implementing missing core features to support it.

New features:
* [core] Enable to specify the initial acceleration optionally.

Improvements:
* [core] Log command instead of motors efforts at engine level. One must use effort sensors to log them.
* [core] Fetch telemetry right after updating command but before integrating the dynamics.
* [core] Log data at the min(controller_period, sensors_period) if > 0, every internal steps otherwise

Bug fixes:
* [core] Fixes hasDynamicsChanged not being set to false after recomputing the dynamics for FSAL stepper hypothesis.
* [gym] Fix argument forwarding with multiple inheritence.

Miscellaneous:
* [gym] Add pipeline design unit tests.