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Changelog
Alexis DUBURCQ edited this page Dec 18, 2021
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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