This is an incremental update to v1.11. If you are already using a v1.11 release, you can safely upgrade without having to change any of your code.
Command API
Deprecated Commands
| Command |
Reason |
set_robot_joint_id |
Obsolete because joint IDs are now deterministic (see below) |
set_sub_object_id |
Obsolete because sub-object IDs are now deterministic (see below) |
Build
- Fixed: Segmentation colors, robot joint IDs, composite sub-object IDs, and other values randomly generated by the build are non-deterministic. This was usually a harmless bug, but it made it very difficult to use log files generated by a
Logger because IDs would change every time. Now, nearly all values randomly generated by the build using local Random objects seeded by the top-level object's ID, meaning that the randomly generated values per object will be deterministic as long as their IDs don't change. The exception is VR nodes because VR rigs don't have a top-level ID. Note: This change slightly increases the odds of segmentation color and object ID collisions. If you have an error in which two robot joints, segmentation colors, etc. were assigned the same values, please let us know.
- Fixed: All Replicant IK motions have non-deterministic durations. Now, the framerate is always the same (
Time.fixedDeltaTime).
tdw module
- Added new Replicant model:
woman_casual
- Added a new
IkPlanType: reset (reset to a neutral position and then reach for the target).
- (Backend) added
Reset subclass of IkPlan.
- (Backend) Fixed:
IKMotion scales the duration after sending initialization commands.
Example Controllers
- Fixed:
replicant/carry_couch.py doesn't work as intended (regression in 1.11.19)
Documentation
New Documentation
| Document |
Description |
Python/replicant/ik_plans/reset.md |
API for Reset |
