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CHANGELOG.md

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Changelog

All notable changes to this project will be documented in this file.

Unreleased

[0.0.6] - 2025-03-02

Added

  • Configuration.check_limits now logs joint limit violations to debug rather than warn when safety_break=False.
  • Added utils.get_subtree_body_ids to get all bodies belonging to the subtree starting at a given body.
    • Example usage of this function can be found in the ALOHA example script where it is used to selectively apply gravity compensation torques to the left and right arm bodies.
  • Add G1 and Apollo humanoid example with a tabletop manipulation focus.

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Changed

  • Improved ALOHA example script.
  • Fixed a small bug in the exit criterion of the ALOHA example script.
  • Updated Stretch example to work with MuJoCo >= 3.3.0.

[0.0.5] - 2024-09-27

Changed

  • Changed inf to mujoco.mjMAXVAL for unbounded joint limits in ConfigurationLimit.

[0.0.4] - 2024-09-26

Changed

  • Fixed a bug in ConfigurationLimit where the indices of the limited DoFs were storing the wrong values.
  • Changed print statement in Configuration::check_limits to logging.warning.

Added

  • Examples:
    • Mobile Kinova loaded from a module-oriented MJCF description: mobile_kinova.py (thanks @Zi-ang-Cao)
      • Removes the nested class naming convention in tidybot.xml, allowing for seamless swapping of end-effectors.
    • Mobile Kinova with LEAP hand: mobile_kinova_leap.py (thanks @Zi-ang-Cao)
      • The example scripts also includes updated recommendations for controlling the mobile base, aiming to minimize unnecessary rotation.
    • UFactory xArm7 with LEAP hand: xarm_leap.py
    • Unitree H1: humanoid_h1.py

[0.0.3] - 2024-08-10

Added

Changed

  • Posture task cost can now be a scalar or a vector. Vector costs are useful for specifying different costs for different dofs.

[0.0.2] - 2024-07-27

Added

Changed

  • Restrict numpy version to < 2.0.0 for compatibility with osqp solver in qpsolvers.
  • README touchup.

[0.0.1] - 2024-07-25

Initial release.