Jiminy-py

This release fixes a new non-critical bugs and contains some minor improvements for gym tools suite.

Improvements

* [gym/common] More efficient random number generator.
* [gym/common] Reset internal '_info' buffer before calling 'is_done' to enable storing extra info. (386)
* [gym/common] Faster space 'clip' utility.
* [gym/common] Do not automatically disable telemetry anymore.
* [gym/common] Enable 'refresh_observation' to access up-to-date shared internal data. (384)
* [gym/common] '_setup' updates frame kinematics for neutral configuration by default.
* [gym/toolbox] Add more convex hull utilities.
* [gym/toolbox] Add math utilities to extract yaw only from transform.

Patches and bug fixes

* [core] Fix model parameters random sampling.
* [core] Make sure random physics parameters are valid.
* [python/simulator] Fix default external force display during replay.
* [python/viewer] Fix support of robot without sensors nor freeflyer.
* [python/viewer] Check that 'time_interval' is valid. Fix out-of-range edge case.
* [gym/common] Various minor bug fixes.
* [gym/toolbox] Fix computation of distance from convex hull.
* [gym/rllib] Fix connection of existing ray cluster head.
* [gym/rllib] Clip random obs to space bounds in PPO regularization.
* [gym/rllib] Fix support of non-dict obs space for 'build_policy_wrapper'.

Miscellaneous

* [misc] Add mass fixed frame with visual to cartpole.
* [misc] Disable warnings when building SOUP. (378)
* [misc] Fix push gym_jiminy wheels on pypi. (379)
* [misc] Fix support of python virtual env for easy-install script. (383)

All unnecessary copies and function calls in learning pipelines are now avoided. In additional, Python architecture has been refactored to reduce dependencies of main packages `jiminy_py`, `gym_jiminy_common`, and `gym_jiminy_toolbox`.

New features

* [gym/common] Allow to specify custom observer update period for base env to avoid refresh observation during internal steps.
* [gym/common] Add optional '_refresh_internal' method to share computation between 'is_done' and 'compute_reward'.

Improvements

* [gym/common] Improve performance by avoiding deepcopy of action in 'compute_command' methods.
* [gym/toolbox] More versatile compute action helper for rllib. (373)

Patches and bug fixes

Miscellaenous

* [python] Remove unused/unmaintained 'smoothing_filter' processing helper.
* [misc] More generic github action wheel generation script. (375)
* [misc] Move 'processing' module from 'jiminy_py' to 'gym_jiminy.toolbox' to remove numba deps.
* [misc] Move 'rllib' module from 'gym_jiminy.toolbox' to a dedicated 'gym_jiminy.rllib' package to remove rllib deps.

Small release fixing a few minor bugs.

Improvements

* [python/dynamics] Remove useless joint jacobians computation.

Patches and bug fixes

* [core/python] Fix bindings of pinocchio overloads.
* [python/viewer] Fix calls to super in Panda3dQWidget (370)
* [misc] Do not try pushing legacy wheels on pypi. (368)

Maintenance update fixing minor bugs. Some pre-compiled dependencies have been updated.

Improvements

* [core] Compute centroidal dynamics derivative systematically. (365)
* [gym/toolbox] Refactor Rllib PPO to always perform a single forward pass. (366)

Patches and bug fixes

* [core] Fix computation of external forces. (365)
* [core/python] Fix wrong output array shape for single row or single element eigen matrix.

Miscellaenous

* [core] Fix eigen stack memory alignment for support of AVX2 instructions.
* [misc] Add legacy build of jiminy wheel for python 3.8 (numpy<1.20).
* [misc] Update dependencies (eigenpy==2.6.4, hppfcl==1.7.4).
* [misc] Fix wheel manylinux seperated artefacts generation. (364)

Another minor release, focusing only on improving performance of constrained inverse dynamics implementation. A very significant speedup by a factor 5 or 10 can be expected.

Improvements

* [core] Increase efficiency of inverse dynamics in Python.

Patches and bug fixes

* [python/viewer] Fix edge case when default-initializing viewer for theoretical model.

Fix several bugs introduced in previous release.

Patches and bug fixes

* [core] Fix segfault and compilation bug on Windows.
* [python/dynamics] Fix wrong application point for spatial velocity and acceleration frames.
* [python/viewer] Fix viewer edge cases when displaying several robots at once.
* [python/viewer] Fix legend aspect ratio in Panda3d, and display it in line at bottom.
* [python/viewer] Fix clock widget for Panda3d.
* [gym/toolbox] Fix edge case in curriculum task scheduler.