0.1.0

What's Changed

• run_mpc with mjwarp rollout backend by @dta-bdai in #114

Full Changelog: 0.0.7...0.1.0

0.0.7

What's Changed

• Bump the dependencies group across 1 directory with 4 updates by @dependabot[bot] in #109
• Add Spot tasks with locomotion policy using mujoco_extensions cpp by @dta-bdai in #110
• Update changelog and codeowners by @dta-bdai in #112
• Fix pypi_publish.yml workflow by @dta-bdai in #113
• Add all spot tasks by @dta-bdai in #111

New Contributors

• @dta-bdai made their first contribution in #110

Full Changelog: 0.0.6...0.0.7

0.0.6

What's Changed

• Bump the dependencies group across 1 directory with 3 updates by @dependabot[bot] in #97
• Change to new RAI Institute copyright by @baxelrod-bdai in #103
• Hotfix viser traces by @bhung-bdai in #107

New Contributors

• @baxelrod-bdai made their first contribution in #103

Full Changelog: 0.0.5...0.0.6

0.0.5

v0.0.5

Added

• Separation between middleware implementation and core functionality
• Support for different middleware implementations
• Sliders with enforced bounds to errors caused by unintended values
• Interface to create controllers from registered tasks and optimizers
• Abstract interface to implement different simulation backends
• Removed duplication of objects inside a node to ensure that all references to data point to the same object

Fixed

• Fixed bug that would allow certain sliders to be set to arbitrary values that could crash the app
• Fixed bug that would allow NaN as a valid entry into the slider text box
• Fixed bug that caused the ControllerConfig to not be recreated when the TaskConfig was reset.

Documentation

• Added specification between different slider types.
• Added guidelines on how to use the Controller. Visualizer, and Simulation objects

Dev

• Modified release process so that any CODEOWNER can publish to pypi

0.0.4

v0.0.4

Added

• Added support for arm-based Macs (@johnzhang3, #87)
• Included functions for simpler model indexing for sensors and joints (@bhung-bdai, @alberthli, #76)

Fixed

• Fixed bug after spec changes where unnamed geoms were causing judo to crash (@alberthli, @pculbertson, #72)

Dev

• Bump version to 0.0.4 in pyproject.toml (@alberthli, #73)
• Cache meshes in CI to prevent CI failures when request limit is hit (@alberthli, #79)

v0.0.3

This minor release upgrades judo to use viser>=1.0.0, which fixes the broken installation on PyPi for v0.0.2, as well as introduces an action normalizer for more isotropic sampling.

Added

• Action normalization (@yunhaif, #54)
  • Added three types of action normalizer: none (default, doing nothing), min_max (normalizing with actuator control range), and running (tracking running mean and std to normalize actions)
  • Added tests for the normalizers and their integration with the controller.
  • Users can change the action normalizer under the controller tab in the GUI.

Documentation

• Updated the README with the arxiv link for the paper (@alberthli, #56)
• Created docs dependency group for even easier one-command installation of docs deps for both conda and pixi (@alberthli, #57)

Dev

• Made pixi-version use latest instead of pinned version in all workflows (@alberthli, #59)
• Bumped Viser to 1.0.0 (@brentyi, #66)

v0.0.2

This release contains bugfixes prior to RSS 2025.

Added

• New judo-specific branding! (@slecleach, #42)

Fixed

• Brandon's last name misspelling in citation in README.md (@pculbertson, #15)
• Fixed max_opt_iters not correctly being applied (@lujieyang and @tzhao-bdai, #14)
  • Added a test to check for this case (@alberthli, #16)
• Fix bug where if no exclude_geom_substring is passed to the model visualizer, all geoms are accidentally excluded (@alberthli, #17)
• Fix bug where when max_opt_iters>1, the shape of nominal_knots is not correct. NEW BEHAVIOR: in the controller, self.nominal_knots now has shape (num_knots, nu) instead of (1, num_knots, nu) (@yunhaif, #29).
• Update model loading so that textures appear correctly in the visualizer (@pculbertson, #32)
• Fix bug where leap cube task encountered division by 0 in axis normalization (@alberthli, #34)
• Fixed bug where changing tasks added accumulating grey lines to the GUI (@slecleach, #44)
• Fixed bug in FR3 task where the MJC distance sensors were flakily not reporting when cube was being lifted (@alberthli, #49).

Documentation

• Changelog file to track changes in the repository (@alberthli, #43)
• Added contributor guidelines to the README (@alberthli, #43)
• Added information about the tasks in a task README (@alberthli, #43)
• Updated author order in the README citation (@pculbertson, #50)

Dev

• Bump prefix-dev/setup-pixi from 0.8.8 to 0.8.10 (#18)
• Create workflow for manually publishing releases to PyPi (@alberthli, #33)
• Update a bunch of versions for pixi (@alberthli, #40)

v0.0.1

Initial public release of judo. The code is currently in alpha, so please expect major API changes and upgrades over the coming months.