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CHANGELOG.md

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Changelog

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

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[Unreleased]

Added

  • None.

Changed

  • None.

Fixed

  • None.

4.2.0

Added

  • Simplified the process of adding new models with the introduction of robot configurations.
  • Enabled the ability to override the robot in the environment.

4.1.0

Added

  • Added DemoPlayer entity containing shortcuts to replay and validate demonstrations.

Changed

  • Adjusted stiffness of floating base positional actuators to reach target state with +-1mm precision.

4.0.0

Added

  • Added configurable floating base DOFs. By default, floating base has [X, Y, RZ] DOFs.
  • Added new tasks.
  • Added presets for environments.

Changed

  • Different decimation for absolute and delta action modes.

3.0.0

Changed

  • BiGym refactored to use Mojo.

2.12.0

Added

  • Added customizable control_frequency of the BiGymEnv.

Changed

  • Updated Demo Player.

2.11.0

Changed

  • Environment reset behaviour should be implemented in on_reset now instead of reset_model.
  • Environment termination behaviour uses _should_terminate which should now be overridden in the task environment.

2.10.0

Added

  • Lightweight demos are automatically uploaded to Google Cloud Buckets when using DemoStore.upload_demo and DemoStore.upload_demos.
  • TooManyDemosRequestedError is raised when requesting more demos than available in the bucket.
  • DemoNotFoundError is raised when requesting demos when none are available in the bucket.

2.9.0

Changed

  • The observation vector of the BiGymEnv is now configured using ObservationConfig and CameraConfig instead of flags.

2.8.0

Added

  • Added DemoStore to upload and download demonstrations from Google Cloud Buckets.
  • Added Lightweight demo format to store only demo action, termination and truncation information.

2.7.1

Added

  • Implemented handling of PhysicsError resulting from an unstable state in the simulation. Instead of raising an error, UnstableSimulationWarning is now raised. If multiple UnstableSimulationWarning occur consecutively, UnstableSimulationError is raised. The is_healthy property of the BiGymEnv now indicates the current state of the simulation.

Changed

  • Refactored utils file into separate modules.

Fixed

  • Fixed NumPy 1.25 DeprecationWarning: Conversion of an array with ndim > 0 to a scalar is deprecated. for move_plate_between_drainers.py.

2.6.1

Added

Changed

  • Wrist joints are now part of the arm instead of gripper.
  • Order of arm joints and actuators is matching now.
  • Removed EE pose action mode.

Fixed

  • Visual observations can now be collected simultaneously with rendering to the on-screen window.

2.5.1

Fixed

  • Fixed block_until_reached flag for absolute joint position control mode.

2.5.0

Added

  • Additional wrist DOF could be added to H1 model.

Changed

  • Updated the control range of grippers to a discrete mode ranging from 0 to 1.

2.4.0

Added

  • Added EE pose action mode.

Changed

  • Renamed and updated put_plate_in_drainer task to move_plate_betweeen_drainers.
  • Renamed and updated swipe_table task to stack_blocks.
  • Gripper control space is now always in the 0-1 range.

Fixed

  • When floating mode is enabled redundant joints are removed completely to prevent instability.
  • Removed unnecessary rotation offsets of props to simplify manipulation.

2.3.0

Added

  • Added functionality to run BiGym environments in VR using pyopenxr. See collect_demos.py.

Changed

  • BiGymEnv._add_dynamic_objects() is now an abstract method and should not be called in child classes.

2.2.0

Added

  • Added functionality to control seed of the BiGym environments.
  • Added demo collection/replaying functionality and examples.

2.1.0

Added

  • Added control of H1 via mediapipe body tracking.
  • Added new SwipeTable task.

2.0.0

Added

  • Added the discrete_gripper flag to control grippers in binary open-closed mode instead of positional mode.

Changed

  • Constructor now takes an ActionMode. Constructor arg floating has been removed and rolled into new ActionMode workflow.
  • We now make use of mjcf.physics rather than directly using mujoco.MjData.

Fixed

  • Floating base is now controlled by positional actuators, and collisions are not ignored.

1.2.0

Added

  • Added new examples for tracking body with kinect to control H1.

1.1.1

Fixed

  • Fixed "floppy" legs when H1 is controlled in floating mode. Enabling the floating mode now "freezes" the legs of the H1; collisions are disabled, and the motion range is limited to a minimum.

1.1.0

Added

  • Added new "Put plate in drainer" task.
  • Added is_gripper_holding_object to BiGymEnv for checking if an object is grasped.
  • Added get_ee_pos and get_gripper_ee_pos to BiGymEnv to retrieve the positions of H1 hands and grippers.

1.0.2

Added

  • Attached 2 2F-85 Robotiq grippers to H1.

Fixed

  • Automatically adjust home key frame of the H1 when attaching grippers.

1.0.1

Fixed

  • XML files not being included when installing.

1.0.0

Added

  • Head, left and right wrist cameras.

Changed

  • Constructor arguments to take in camera names.

0.2.0

Added

  • Floating base so that H1 can be controlled without legs; (x, y, theta) actions
  • End-effector "sites".
  • Added reach target task.

0.1.0

Added

  • Initial project code.