v2.3.2

This release includes the following changelog:

v2.3.2

Added support for the Unitree G1

v2.3.1

Updating IsaacLab examples to the proper H1 format.

v2.3

(1) Released pre-trained MaskedMimic model for the SMPL humanoid.
(2) Updated the no_constraint config file.
(3) Updating motion_tracker/smpl README.

v2.2.1

Fixing object-related variable name mismatch.

v2.2

(1) Released motion tracker for the SMPL humanoid!
(2) MaskedMimic:
(2.1) Model output passes through tanh.
(2.2) Environment text configuration moved to the experiment file to avoid default overrides.

v2.1

• Swapped dynamic sampling mechanism to utilize on-policy evaluation. This is cleaner and less error-prone.
• Added example for motion-sync with scene interactions.
• MaskedMimic model now outputs a tanh clamped action.
• Internal simulator variables moved to "_" notation.
• IsaacLab SMPL and H1 humanoid parameters set to match MJCF/URDF configs (IsaacGym/Genesis).

v2.0.1

Moving contact-specific PhysX parameters out of the SMPL-X config.

v2

• Code cleanup and refactoring.
  • Less inheritance and dependencies. This may lead to more code duplication, but much easier to parse and adapt.
  • Moved common logic into components. These components are configurable to determine their behavior.
  • All components and tasks return observation dictionaries. The network classes pick which observations to use in each component.
• Extracted simulator logic from task.
  • Common logic handles conversion to simulator-specific ordering.
  • This should make it easier to extend to new simulators.
• Added Genesis support.
• New retargeting pipeline, using Mink.

v1 - SIGGRAPH Asia

Official release of MaskedMimic code.
Reproducing the SIGGRAPH Asia paper MaskedMimic.