Jiminy: a fast and portable Python/C++ simulator of poly-articulated robots with OpenAI Gym interface for reinforcement learning
MIT License
Published by duburcqa over 3 years ago
This release brings minor performance improvement. It is mainly intended to improvement overall code quality and consistency with standard naming conventions (essentially Mujoco terminology). A convenience tool to interpolate trajectories in Lie group space has also been added.
Published by duburcqa over 3 years ago
Another small release consisting mainly in bug fixes. In addition, a new type of pre-defined visco-elastic coupling force has been added, acting independently in each direction instead of only along coupling direction.
Published by duburcqa over 3 years ago
Tiny release to fix a critical bug causing corruption of sensors data (IMU, Force Sensors, and Contact Sensors).
Published by duburcqa over 3 years ago
Simulation speed has been increased by at least 15%, mainly avoiding memory allocation during simulation, postponing accelerations and forces updates until successful stepper step, and not computing all terms for internal stepper steps.
Published by duburcqa over 3 years ago
Simulation speed has been increased by at least 15% by avoiding the stepper to allocate memory dynamically once a simulation has started.
Published by duburcqa over 3 years ago
This release makes it possible to add visco-elastic (spring-damper mechanism) coupling force between two frame on the same or different robots, without having to implement them manually. It brings a huge speedup wrt doing it in Python (even using Numba). In addition, a few redundant computations have been removed, resulting in a minor overall speedup.
Co-authored-by: Alexis Duburcq [email protected]
Published by duburcqa almost 4 years ago
This release fixes the long lasting issue of robot getting deleted without letting know the others relying on it, causing erratic segfaults hard to diagnose. It also adds several mechanisms to ensure the consistency of the data, and proper update of low-level pinocchio::Data
, to avoid having to manually update anything that the user may expect already having been computing. It comes at an addition computational burden, but it is the price to pay to avoid nasty mistakes.
Published by duburcqa almost 4 years ago
This release aims to make it easier and more intuitive to implement custom robot controllers. It also gets rid of custom file extensions for configuration files for clarity.
Published by duburcqa almost 4 years ago
The pre-compiled binaries of EigenPy, Hpp-Fcl and Pinocchio have been updated to the latest available releases. In addition, several bugs have been fixed (including a segfault!).
Published by duburcqa almost 4 years ago
This release introduces a new (experimental!) high-performance and customizable viewer backend based on Panda3D, which supports both offscreen and onscreen rendering. Yet, some features of Viewer may not be working properly, and offscreen rendering requires X11 server on Linux for now. Notably, it is now possible to add flexibilities at fixed joint frames, and to add coupling forces between frames of the same robot.
Many important new features, breaking changes and critical bug fixes have been introduced since release 1.4.0, so it is time to bump up the minor version tag!
Published by duburcqa almost 4 years ago
This release adds support of discrete action spaces. It also fixes several non-critical issues related to core, gym, unit tests, and docs.
Published by duburcqa almost 4 years ago
This release fix several bugs that has been introduced in the previous ones. It also makes it easier to use the newly added color names, legend and watermark options for simulation replay.
Published by duburcqa almost 4 years ago
This release introduces a new dedicated widgets manager for Meshcat
that enables to display information on top of three.js
rendering. Those are captured when taking screenshot or recording videos. In addition, the default format when capturing frames is now .png
, which is about 30% faster.
Published by duburcqa almost 4 years ago
This release introduces new options for the viewer to display a customizable matplotlib-like legend (draggable!) and a log/watermark on top of Meshcat web-based visualizer.
Published by duburcqa almost 4 years ago
Gym Jiminy, and especially the pipeline design tools, have been heavily refactored to improves performance. The keystone was to share references to avoid copies and memory allocations as such as possible. It also removes automatic clamping of actions/observations. It is up to the user to re-enable it, e.g. using gym wrappers. In addition, the efficiency of computationally demanding gym space helpers and provided PID controller block have been greatly enhanced. 3 times speed-up is to be expected.
Published by duburcqa almost 4 years ago
This release improves the general stability of jiminy_py, and especially the viewer. Additionally, it adds support of color names (e.g. 'orange') instead of RGBA color code for convenience.
Published by duburcqa almost 4 years ago
Jiminy_py viewer recorder is hanging on Windows 10 for Python 3.6 because the subprocess creation is silently failing.
Published by duburcqa almost 4 years ago
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).
Published by duburcqa almost 4 years ago
This release adds camera motion planning capability, and significantly improves the stability of log plotting and replaying utilities.
Published by duburcqa almost 4 years ago
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.