Generic locomotion envs #206
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added 7 commits
October 6, 2020 11:15
… to current time.
…thout being hacky nor code duplication.
…se for acrobot and cartpole envs. Remove unappropriate 'is_success' info in base env.
duburcqa
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Oct 11, 2020
* [Gym] Generic locomotion envs - PART I (#194) * [Viewer] Replace multi args "," delimiter by "|" to allow comma in path. Raise exception is * [Gym] Major rework to add base locomotion learning environments. * [Core] Implement methods to add and remove frames from the robot model. * [Core] Add 'mechanicalReduction' option to the motors. * [Core] Add support of mesh collisions using HPP-FCL. Migration to pinocchio/eigenpy v2.5.0. * [misc] Cleanup cmake config file to implement actual legacy mode for Ubuntu18. Update Ubuntu 18 easy install deps. * [misc] Add official support of Ubuntu 20. * [Core] Add support of body collision with the ground, but do NOT actually compute the forces. Co-authored-by: Alexis Duburcq <alexis.duburcq@wandercraft.eu> * [Gym] Generic locomotion envs - PART II (#196) * [core] Expose collision model/data in Python. Fix mesh path at robot level instead of viewer. * [core] Make clear the difference between body collisions and contact frames. Implement actual force sensor. * [core] Fix collision computation. Add option for max collision contact points. * [core] Various minor improvements. Enable FCL convex hull computation. * [core] Implement collision body contact force. Use convex hull instead of the actual geometry for evaluating the collisions. * [misc] Fix compilation flags on windows. Update Pinocchio to the latest available release on Ubuntu 18 (same as 20). * [Viewer] Remove deprecation warning of Pinocchio. Do not try to load plane primitive associated with the ground. * [Viewer] Minor improvement of error handling. Co-authored-by: Alexis Duburcq <alexis.duburcq@wandercraft.eu> * [Gym] Generic locomotion envs - PART III (#197) * [core] Add new 'successiveIterFailedMax' stepper option. * [core] Fix collision body contact force computation and primitive geometry support. Fix add frame. Fix generic robot envs. * [core] Improve mesh package support. Add meshPackageDirs optional argument to model.initialize method. * [core] Expose sensor data individually. Add sensor __repr__. Expose EngineMultiRobot systems vector in Python. Fix systemData returning unusable robot and controller. * [engine_async] Improve viewer backend management. * [unit_py] Rework the unit test in Python to reduce code duplication. Add dedicated box and sphere testing urdf with collision and visual. * [misc] Reduce static library compile size by removing debugging symbols. * [python/robot] Set controller and sensors update periods. Co-authored-by: Alexis Duburcq <alexis.duburcq@wandercraft.eu> * [Gym] Generic locomotion envs - PART IV (#198) * [core] Add ControllerFunctor default value 'None' in Python. Take advantage of it for EngineAsync. * [python] Improve PEP8 compliance and typing. Co-authored-by: Alexis Duburcq <alexis.duburcq@wandercraft.eu> * [Gym] Generic locomotion envs - PART V (#199) * [python] Remove Python2 support for Python bindings. * [core] Fix exception catching addCouplingForce. * [gym] Use typing. * [gym] Add generic locomotion env. Co-authored-by: Alexis Duburcq <alexis.duburcq@wandercraft.eu> * [Gym] Generic locomotion envs - PART VI (#200) * [core] More specific Utilities error messages. * [core] Add support of collision with bodies associated with multiple geometries. * [misc] Multi-level data folder architecture. * [misc] Rename gym env_base.py in env_bases.py. * [python] Enable to specify collision bodies, contact points, and ground model in TOML config file. * [python] Add IMU sensor to root body by default systematically if no Gazebo IMU has been found. * [python] BaseJiminyEngine now creates a temporary toml file if not available. * [gym] Enable to refresh observation and action spaces separately. Enable to use custom PID gains. * [gym] Remove 'TorqueControl' from walker name since it is the default. Co-authored-by: Alexis Duburcq <alexis.duburcq@wandercraft.eu> * [Gym] Generic locomotion envs - PART VII (#201) * [misc] Remove Python 2 compatibility code. * [core] Fix Model 'removeCollisionBodies' method. * [core] Fix support of multiple geometry by body for collision computation. * [core] Compute the centers of mass systematically. * [core] Check that the initial state is not out of bounds. * [core|gym] Properly handle step integration failure. * [gym] Fix 'done' flag handling in 'step' method. Remove 'engine' property to avoid redundancy. * [gym] Use sample_state to get initial height. * [gym] Fix PD Control env motor-to-encoder mapping. Co-authored-by: Alexis Duburcq <alexis.duburcq@wandercraft.eu> * [Gym] Generic locomotion envs - PART VIII (#202) * [misc] Move meshes in subdirectories. * [core] Add support of 'continuous' joint type. * [core] Check that at least one geometry is associated with the bodies when adding collisions. * [core] Fix AddFrame to check not already exists, and update pinocchio data. * [core] Add optional parameter to ignore meshes when adding collision body. * [core] Fix support of mechanical reduction. * [python] Add support of encoders and motors of any 1-dof type. Better handling of default sensor and controller update period. * [python] Fix force sensor and collision guess if no gazebo plugin available. * [python] Improve handling of collision bodies by adding several fallback mechanisms. * [python] Make sure that up to 3 points are in contact, instead of being aligned with the closest contact point frame. * [python] Fix motor inertia and mechanical reduction not properly extracted from the URDF. * [gym] Apply ground offset at 'reset' instead of '_sample_state'. Co-authored-by: Alexis Duburcq <alexis.duburcq@wandercraft.eu> * [Gym] Generic locomotion envs - PART IX (#203) * [misc] Update dependency versions. * [core] Minor rework for engine forward dynamics computation. * [python/dynamics] Fix dynamics quantities not properly initialized at engine reset. * [python/dynamics] Take into account collision body orientation for box primitive when computing freeflyer. * [python/robot] Automatically convert box primitive body collision in contact points for numerical robustness. * [python/robot] Improve default toml generation. * [python/Viewer] Fix play_trajectory 'wait_for_client' option not used. * [python/Viewer] Refactor Viewer to make it simpler and clearer. * [python/Viewer] Use typing everywhere in Viewer. * [gym] Enable to define custom neutral configuration. Co-authored-by: Alexis Duburcq <alexis.duburcq@wandercraft.eu> * [Gym] Generic locomotion envs - PART X (#204) * [core] Fix various segfault in case of exceptions. More verbose error message when failing to load URDF model. * [core] Enable to postpone Controller def after engine init, and to change it between simu. * [python] Remove meshes and use primitives for toys models. * [python] Refactor of engine/simulator classes to be more versatile yet simpler. * [python/Viewer] More robust handling of meshcat comms in Jupyter. Co-authored-by: Alexis Duburcq <alexis.duburcq@wandercraft.eu> * Generic locomotion envs (#206) * [python/simulator] Add 'plot' method to simulator to display simulation data up to current time. * [python/examples] Remove messy examples and fix the others. * [gym] Minor refactoring to enable getting normal env from goal env without being hacky nor code duplication. * [gym] Enable to set camera pose in env 'render' method. Remove 'is_success' info in base env. * [gym] Fix terminal reward computation. Co-authored-by: Alexis Duburcq <alexis.duburcq@wandercraft.eu> * [core] Implement Lie-group based steppers. (#205) * [core] Implement custom steppers working in Lie group directly, for improved accuracy and performance. * [core] Add constraint for wheel rolling on flat ground. Co-authored-by: Matthieu Vigne <matthieu.vigne@wandercraft.eu> Co-authored-by: Alexis Duburcq <alexis.duburcq@wandercraft.eu> * Bug fixes and stepper performance improvement. (#208) * [msic] Various bug fixes. * [misc] Enable Eigen 3.3 for any plateform since it is no longer conflicting with Boost. * [core] Use enable_if_t from STL C++14. * [core] Rework Lie Algebra implementation for efficiency. * [core] Stepper performance improvement by using buffers. * [misc] Fix 'set-env' github CI deprecations. Co-authored-by: Alexis Duburcq <alexis.duburcq@wandercraft.eu> Co-authored-by: Matthieu Vigne <matthieu.vigne@wandercraft.eu>
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