Changelog

Release v1.0.2 (2024-07-30)

Bug Fixes

1. Fixed a bug in BenchmarkPlanningEnv (mover actuator XML string) where different mover masses were not taken into account

Release v1.0.1 (2024-05-28)

General

1. Added the basic environments: BasicPlanarRoboticsEnv, BasicPlanarRoboticsSingleAgentEnv, BasicPlanarRoboticsMultiAgentEnv

2. Added the BenchmarkPushingEnv and BenchmarkPlanningEnv environments: two simple example environments for motion planning and object manipulation.

3. Added a MoverImpedanceController that solves a position and orientation task.

4. Added the MujocoOffScreenViewer: an extension of the Gymnasium OffScreenViewer that allows to also specify the groups of geoms to be rendered by the off-screen renderer.

5. Added the MujocoViewerCollection: a manager for all renderers in a MuJoCo environment.

6. Added the Matplotlib2DViewer: a simple viewer that displays the tile and mover configuration together with the mover collision offsets for debugging and analyzing planning tasks.

7. Added auxiliary functions for MuJoCo, collision checking and rotations