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.