Changelog

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

Unreleased

Added

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.

Changed

Improved ALOHA example script.

[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

Relative frame task.
More examples:
- Mobile manipulator: mobile_tidybot.py
- Bimanual manipulator: aloha.py
- Arm + dexterous hand: arm_hand_iiwa_allegro.py

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

Documentation.
Damping task.

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.