Wilson Jallet

This would allow doing the following thing: ```python class SpecialConfig(CfgNode): field1: int = 0 field2: str = 'foo' _C = CfgNode() _C.special = SpecialConfig() def update_spec_config(spec_config: SpecialConfig): config = _C.clone()...

WIP: More enhancements to DeepMimic (Gym and base env)

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This is a new PR for other changes I made to the DeepMimic Gym env. This is not consistent with #3076. ## Changes in this branch - I modified the...

[Enhancement] Use PyTorch's native TanhTransform?

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**Describe the bug** As noted in https://github.com/DLR-RM/stable-baselines3/issues/36#issuecomment-634729158, the current `common.distributions.TanhBijector` used to squash actions in SAC (for instance) can be replaced by PyTorch's native transform. We can redefine `SquashedGaussianDistribution` by...

Webpack 4 support

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Webpack 4 introduced a new API, including running without any configuration and setting a `mode` parameter (which is required, I get warnings inside Chrome when running my frontend app). Are...

Add support for "spherical" joint (from PyBullet)

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Addresses issue #8. Essentially, "spherical" is an alias for the "floating" joint type, with no translation component in the transformation matrix (I added a check for this in `Joint.get_child_poses()`). This...

I think the `"spherical"` joint type is not part of the standard URDF spec. However, the Bullet simulator and its Python API support this joint type along with others such...

Recently, Bullet C++ and PyBullet have started supporting the `` tag in URDF files following [this commit](https://github.com/bulletphysics/bullet3/pull/2711), see [this file](https://github.com/bulletphysics/bullet3/blob/ca507149964e2dab6fac13b7a957ca29982ed620/data/torus_deform.urdf) for a use example. I'm not sure of how it...

Scaling issues on JDK 9

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On Windows 10 using Java 9 with DPI scaling different from 100%, the placement of geometric shapes is broken. As expected on the Java 9 platform, the application window, text...

WIP: Copy std-vector and std-map from Pinocchio

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I recovered the history using `git-filter-repo`, squashed and rebased it into a single big commit before merging the files' history into eigenpy. **TODO** * Include the `utils/copyable.hpp` header from Pinocchio...

Proposal: port StdVectorPythonVisitor from Pinocchio's bindings

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The header is here: https://github.com/stack-of-tasks/pinocchio/blob/devel/bindings/python/utils/std-vector.hpp (or a more recent version). I recently suggested moving/copying the **`StdVectorPythonVisitor`** template from Pinocchio's bindings upstream to this repo, so that downstream packages don't have...