[core] Implement velocity limits at motor-level. #798
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duburcqa
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May 17, 2024
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duburcqa
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- [core] Define position, velocity and effort limits at motor level.
- [core] Implement velocity limits at motor-level.
- [core] Allow direct access to all motors / sensors attached to a robot.
- [core] Remove spring-damper position bounds dynamics to always use constraints.
- [core] Remove damper velocity bounds dynamics.
- [core] Define motor armature option at motor-side.
- [core] Remove dedicated robot attributes for position, velocity and effort limits.
- [core] Remove inefficient motor / sensor convenience helpers of 'Robot'.
- [core] Log total joint effort instead of confusing motor effort on joint side.
- [core] Enable attaching encoders either on motor or joint side.
- [core] Mechanical reduction is now fully supported.
- [core] Fix adding flexibility frame on root joint of fixed-base robot.
- [core] Move 'enable(Velocity|Effort)Limit' options from AbstractMotor to SimpleMotor.
- [core] Add velocity-torque slope when approaching maximum torque.
…ot attributes for position, velocity and effort limits.
… Remove inefficient motor / sensor convenience helpers.
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* [core] Make 'jiminy::Model' and 'jiminy::Robot' copyable. (#791) * [core] Add stairs terrain (#797) * [core] Define position, velocity and effort limits at motor level. (#798) * [core] Implement velocity limits at motor-level. (#798) * [core] Allow direct access to all motors / sensors attached to a robot. (#798) * [core] Remove spring-damper position bounds dynamics to always use constraints. (#798) * [core] Remove damper velocity bounds dynamics. (#798) * [core] Define motor armature option at motor-side. (#798) * [core] Remove dedicated robot attributes for position, velocity and effort limits. (#798) * [core] Remove inefficient motor / sensor convenience helpers of 'Robot'. (#798) * [core] Log total joint effort instead of confusing motor effort on joint side. (#798) * [core] Enable attaching encoders either on motor or joint side. (#798) * [core] Mechanical reduction is now fully supported. (#798) * [core] Fix adding flexibility frame on root joint of fixed-base robot. (#798) * [core] Move 'enable(Velocity|Effort)Limit' options from AbstractMotor to SimpleMotor. (#798) * [core] Add velocity-torque slope when approaching maximum torque. (#798) * [core] Keep track of motor efforts both on motor and joint sides. (#801) * [core] Effort sensors now measure motor effort before transmission. (#801) * [core|python] Various cleanup. (#790) * [python] Introduce first-class trajectory object. (#790) * [python/log] Fix trajectory and sensor data extraction and replay from log. (#800) * [python/plot] Get around tabbed figure hanging for 'matplotlib>=3.8'. (#795) * [python/viewer] Add missing documentation. (#790) * [python/replay] Make specifying 'robot' optional in most helpers. (#800) * [gym/common] Add generic stacked quantity wrapper. (#783) * [gym/common] Do NOT pass 'truncated' argument to 'compute_reward'. (#783) * [gym/common] More generic quantity batching. (#783) * [gym/common] Pass 'info' in argument of 'has_terminated' for consistency. (#783) * [gym/common] Remove BaseJiminyEnv 'enforce_bounded_spaces' option by lack of use-case. (#783) * [gym/common] Add masked quantity. (#784) * [gym/common] Add average odometry velocity quantity. (#784) * [gym/common] Introduce reward objects. (#784) * [gym/common] Add locomotion rewards. (#784) * [gym/common] Add base reward mixture class to ease pipeline instantiation. (#786) * [gym/common] Add basic survive reward. (#786) * [gym/common] Increase timeout ratio from 10 to 15 to avoid Mac OS CI failure. (#786) * [gym/common] Add compose reward pipeline wrapper. (#787) * [gym/common] Support specifying reward in pipeline config. (#787) * [gym/common] Add simulation vs trajectory quantity evaluation mode. (#791) * [gym/common] Expose trajectory database in quantity manager. (#792) * [gym/common] Expose interpolate mode for trajectories. (#792) * [gym/common] Add support of trajectory reference in reward computation. (#792) * [gym/common] Enable specifying reference trajectories in pipeline config. (#792) * [gym/common] Get around some memory alignment issue with Boost < 1.78. (#794) * [gym/zoo] Update Atlas learning environment. (#800) * [gym/zoo] Update all robotic environments so that random actions do not trigger truncation. (#801) * [gym/rllib] Add symmetry surrogate loss in rllib custom ppo (#780) * [gym/rllib] Fix checkpoint save location. (#788) * [gym/rllib] Update checkpoint_dir so it is dependant on iteration number (#789) * [misc] Update install instructions on windows. (#787)
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