Jiminy release 1.8.8 (#827)

* [core] Fix robot serialization issue. (#821)
* [core] Minor improvement periodic Perlin process and periodic stair ground. (#799) 
* [core] 'PeriodicGaussianProcess' and 'PeriodicFourierProcess' are now differentiable. (#799) 
* [core] Fix negative time support for all existing random processes. (#799) 
* [core] Add N-dimension Perlin processes. (#799) (#823) 
* [core] Add gradient computation for all Perlin processes. (#799) (#823) (#825)
* [core] Make all Perlin processes faster and copy-able. (#799) 
* [core] Add Perlin ground generators. (#799) 
* [core] Replace MurmurHash3 by xxHash32 which is faster. (#824) 
* [core] Make gradient computation optional for heightmap functions. (#824) 
* [jiminy_py] Fix 'tree.unflatten_as' mixing up key order for 'gym.spaces.Dict'. (#819)
* [python/simulator] Consistent keyword arguments between 'Simulator.build' and 'Simulator.add_robot'. (#821)
* [python/viewer] Fix MacOS support. (#822)
* [python/viewer] Add support of user-specified extra cameras (rgb and depth). (#826)
* [python/viewer] Significantly speed-up both offscreen and onscreen rendering for Panda3D. (#826)
* [gym/common] More generic stacking quantity. (#812) 
* [gym/common] Add termination condition abstraction. (#812) 
* [gym/common] Add quantity shift and drift tracking termination conditions. (#812) 
* [gym/common] Add support of termination composition in pipeline environments. (#812) 
* [gym/common] Add base roll/pitch termination condition. (#813) 
* [gym/common] Add base relative height termination condition. (#813) 
* [gym/common] Add foot collision termination condition. (#813) 
* [gym/common] More generic actuated joint kinematic quantity. (#814) 
* [gym/common] Add multi-ary operator quantity. (#814) 
* [gym/common] Add safety limits termination condition. (#814) 
* [gym/common] Add robot flying termination condition. (#815)
* [gym/common] Add power consumption termination condition. (#816) 
* [gym/common] Add ground impact force termination condition. (#816) 
* [gym/common] Add base odometry pose drift tracking  termination condition. (#817) 
* [gym/common] Add  motor positions shift tracking termination condition. (#817) 
* [gym/common] Add relative foot odometry pose shift tracking termination conditions. (#820)
* [gym/common] Add unit test checking that observation wrappers preserve key ordering. (#820)
* [gym/common] Fix quantity hash collision issue in quantity manager. (#821)
* [gym/common] Refactor quantity management to dramatically improve its performance. (#821)
* [gym/common] Add 'order' option to 'AdditiveReward'. (#821)
* [misc] Fix missing compositions documentation. (#812) 

---------

Co-authored-by: Mathias Wulfman <[email protected]>

[misc] Update release patch tag.

Jiminy release 1.8.6 (#802)

* [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)

[misc] Update release tweak tag.

[core] Fix partially broken step adjustment optim that could lead to …

…integration fail.

Jiminy release 1.8.4 (#769)

* [core] Fix bias/noise check for EncoderSensor. (#744)
* [core] Fix some symbols not exported by mistake. (#742)
* [core] Catch exception during stepper integration. (#747)
* [core] Clarify terminology: 'Rigid' by 'Mechanical', 'Original' by 'Theoretical', 'Actual' by 'Extended'. (#753) (#762) (#763)
* [core] More appropriate tolerance when checking GCD to avoid false positive. (#753)
* [core] User is now systematically responsible for serializing constants before telemetry registration. (#753)
* [core] Various cleanup and minor improvements. (#753)
* [core] Add 'JIMINY' namespace to macros. (#755)
* [core] Add methods to get / set all simulation options at once. (#760) 
* [core] More robust set/get options logics. (#761)
* [core] Add backlash support at motor-level. (#767)
* [core|python/simulator] Cleanup get/set options for multi-robot simulations. (#758)
* [core/python] Faster 'array_copyto'. (#740)
* [core/python] Do not export bindings. (#742)
* [core/python] Expose more convenience getters. (#748) 
* [core/python] Add method to query heightmaps on multiple positions at once. (#750)
* [python/viewer] Fix arrow maker for negative length with panda3d backend.
* [python/viewer] Fix arrow marker for 'anchor_top=True' with panda3d.
* [python/viewer] Fix viewer automatic closing during repley not working. (#756)
* [python/simulator] First-class multi-robot support. (#754) (#766)
* [python/plot] Add multi-robot support. (#764)
* [gym/common] Fix corrupted robot proxy if model changes. (#746)
* [gym/common] Introduce new first-class quantity manager. (#749) (#751) (#752) (#756)
* [gym/common] Initialize sensor measurements at init. (#750)
* [gym/common] Plot state, action and features of all pipeline blocks. (#750)
* [gym/common] PD controller now satisfies position, velocity and acceleration bounds. (#750) (#765) (#768)
* [gym/common] Allows PD control with position action.  (#750)
* [gym/common] Remove PD target dead band. (#750)
* [gym/common] Decouple PD controller action order adapter from acceleration integration. (#764)
* [gym/common] Refactor 'compute_command' to operate in-place. (#764)
* [gym/rllib] Migrate from ray[rllib]==2.5.0 to 2.9.*. (#739)
* [misc] Fix documentation formating.
* [misc] Add YAPF formatting configuration (opt-in). (#739)
* [misc] More robust build scripts. (#739)
* [misc] Allow failure when installing gym_jiminy add-on modules. (#739)
* [misc] Run all unit tests for gym jiminy base modules on Python 3.12 and Debug. (#739)
* [misc] Support Numpy 2.0.0b1. (#740)
* [misc] Upgrade C++ dependencies. (#741) 
* [misc] Fix compilation on Windows ARM64. (#746)
* [misc] Fix numpy version requirement. (#750)
* [misc] Update documentation. (#750)

---------

Co-authored-by: Alexis Duburcq <[email protected]>
Co-authored-by: Grégoire Roussel <[email protected]>
Co-authored-by: Amandine <[email protected]>

Jiminy release 1.8.3 (#738)

* [core] Make visual and collision models optional. (#730) 
* [core] Throw exception when trying to alter hardware or controller internals during simulation. (#730) 
* [core] Mark src-local functions as static. (#730) 
* [core] Add some missing bad control flow checks. (#730) 
* [core] Print warnings even for release build type. (#731) 
* [core] Fix broken 'getRigidVelocityFromFlexible'. (#732) 
* [core/python] 'Model' can now be instantiated from Python. (#730) 
* [core/python] Fix partially broken 'FunctionalController' bindings. (#730) 
* [core/python] Avoid visitor pattern when irrelevant. (#730) 
* [core/python] Expose more methods for 'Model'. (#731) 
* [core/python] Fix multiple typos. (#731) 
* [python/simulator] Fix 'robot' and 'robot_state' corrupted if robot is replaced. (#731) 
* [gym/common] Add 'compute_tilt_from_quat', 'swing_from_vector', and 'remove_twist_from_quat'. (#731) 
* [gym/common] Fix 'refresh_observation' being called before 'initialize_buffers' at simulation start. (#731) 
* [gym/common] Fix broken mahony filter for 'twist_time_constant != None'. (#731) 
* [gym/common] Fix support of non-batched mode for generic math. (#731) 
* [gym/common] Fix 'matrix_to_rpy' to be consistent with 'pin.matrixToRpy'. (#731) 
* [gym/common] Add 'DeformationEstimator' block. (#732) 
* [gym/common] Allow negative block update period to match env step. (#734)
* [gym/common|gym/toolbox] Promote generic SE3 math utilities from toolbox to common module. (#731) 
* [gym/envs] Fix broken 'Ant' environment. (#731) 
* [misc] Update documentation. (#736)

Jiminy release 1.8.2 (#729)

* [core] More conservative step adjustment for adaptive steppers. (#724)
* [core] Add relaxation to PGS solver to mitigate convergence instabilities. (#726)
* [core] Remove unnecessarily confusing 'System' hierarchy. (#728)
* [core] Remove single-robot 'Engine' class. (#728)
* [python/plot] Synchronise x-axes on all tabs by default. (#724)
* [gym/common] Ease debugging of Gym environments. (#724)
* [gym/common] Do not enforce 'dtMax'. (#727)

Jiminy release 1.8.1 (#722)

* [core] Error and warning reporting more consistent with Python. (#716)
* [core] Fix exception handling for visco-elastic coupling and internal flex forces. (#716)
* [core] Fix error estimation too optimistic for adaptive steppers. (#716)
* [core] Fix partially broken step adjustment optim that could lead to integration fail. (#721)
* [gym/common] Move 'sample' from 'spaces.py' to 'helpers.py'. (#721)
* [gym/zoo] Fix 'acrobot' and 'cartpole' envs not using wrong integrator. (#719)
* [misc] Do not verify metadata before pushing wheels on PyPi.
* [misc] Fix easy install doc. (#721)
* [misc] Fix support of virtual env ('venv', 'pyenv', ...) when building dependencies. (#721)

---------

Co-authored-by: Alexis Duburcq <[email protected]>

Jiminy release 1.8.0 (#714)

* [core] More consistent naming conventions. (#705)
* [core] Revert 'crba' to ensure positive definite inertia matrix. (#709)
* [core] Remove return codes and throw exceptions instead. (#713)
* [core/python] Get rid of intrusive global to_python converters.(#708)
* [core/python] Avoid using raw C typeid. (#711)
* [python] Get rid of 'dm-tree' dependency. (#706)
* [python/viewer] Fix video recording on Apple Silicon with meshcat. (#706)
* [python/viewer] Fix meshcat zmq socket not properly closed.
* [gym/common] Fix circular reference issue preventing garbage collection.
* [gym/common] Enable numba caching for 'remove_twist'. (#706)
* [misc] Cleanup stable_baselines3 examples and unit tests. (#706)
* [misc] Update Github Action to latest release.(#708)
* [misc] Run CI on Apple Silicon when possible. (#707)
* [misc] Update C++ dependencies to latest releases. (#713)