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Changelog

Alexis DUBURCQ edited this page Dec 18, 2021 · 12 revisions

V1.7 (ongoing)

  • Add automatic optimized mesh generation for the ground profile using CGAL
  • Remove hard-coded constant in C++ and Python code whenever it is possible
  • Add sensor drift
  • Add a motor with an realistic internal dynamics converting voltage/current into torque
  • Add motor delay
  • Implement differential transmission

V1.1 (done)

  • Add a motor object
  • Improve friction model with the ground to be more realistic

V1.0 (done)

  • Add getters in Python for the C++ const variables
  • Add helpers for the conversion from body frame to world frame for the linear velocity and acceleration of the freeflyer.
  • Add full support of motor inertia in Engine computations
  • Return a dictionary for the sensor data instead of a set of matrices
  • Add support of user-defined ground profile.
  • Check torques in simulation

V0.8-V0.9 (done)

  • Support both of Python2.7 and Python3.6
  • Improve option type handling from-to Python-C++
  • Provide an OpenAI Gym interface for multi CPU and GPU reinforcement learning (including rendering)
  • Successfully train the cartpole model using openAI baseline algorithms

V0.7 (done)

  • Add a convenient controller class taking generic functor for command and internal dynamics as input
  • Rework Python bindings for more versatility and real isolation between open and closed source code

V0.6 (done)

  • Add options to customize the urdf (move bodies' center of mass, and length ...etc)
  • Add support of flexible joints
  • Add support of external forces

V0.5 (done)

  • Add raw data sensor mode
  • Add sensor noise, bias and delay
  • Add an option to enable/disable freeflyer addition to the URDF model
  • Add total system energy monitoring

V0.4 (done)

  • Add a header to the CSV log file (cpp struct with field "header" and "data")
  • Try logging more data
  • Use log header instead of const variable to extract log information (Python)
  • Add support of binary tsv log export

V0.3 (done)

  • Add an object "motor_encoder" as an additional sensor
  • The controller should be a class, initialized with a reference trajectory (C++)
  • Add finite update period options for controller and sensors

V0.2 (done)

  • The controller should be a class, initialized with a reference trajectory (Python)
  • Python bindings to update the engine parameters on-the-fly without requiring to create a new engine and reload the URDF file.
  • Add utils to compute feedforward using dynamicsTeller
  • Achieve stable walking for rigid model without friction

V0.1 (done)

  • More robust CMakeFiles
  • Add an optional parameter --urdf, -u and --output, -o to trajectory_tracking binary
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