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Commits on Mar 26, 2020

• Add the Ant walker to dm_control.locomotion.

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Commits on Mar 25, 2020

• Internal change for file handling in PyMJCF.

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• Add export_with_assets_as_zip function for exporting MJCFs as .zip.

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Commits on Mar 23, 2020

• Adding a movable head to the BoxHead walker with an attached camera to allow for egocentric vision.

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Commits on Mar 17, 2020

• Downsize soccer asset `png`s to 64x64.

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Commits on Mar 13, 2020

• Fixed incorrect home and away goal positions in pitch arena.

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• Add egocentric observations of others' end_effectors.

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• Improve lighting in soccer pitch.

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• Change `MJCFCamera.array_spec` to return a `BoundedArray` rather than an `Array`

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• Add missing scipy dependency, remove redundant non-scipy codepath

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• Allow legacy_base.Walker to use multiple initializers.

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  siegeln

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• Switch to lower-resolution egocentric camera for boxhead.

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Commits on Feb 24, 2020

• Move implementation of `transform_{vec,xmat}_to_egocentric_frame` from `base.Walker` to `base.Entity`.

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Commits on Feb 21, 2020

• Fix incorrect copyright notice

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Commits on Feb 20, 2020

• Add rodent tests and correct example comments.

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Commits on Feb 18, 2020

• Initial open-sourcing of rodent and tasks.

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• Add `configure_joints` method to the base Entity class.

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• Add equality test to `WalkerPose` objects.

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Commits on Feb 12, 2020

• Fix ball to walker contacts.

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Commits on Feb 11, 2020

• Rollback of commit 002de80da47a5e706ce5e7876299533189377ff5.

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Commits on Feb 10, 2020

• Add a closer camera to the soccer ball.

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• Move joints_vel, sensors_torque, and sensors_touch into legacy_base.Walker.

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Commits on Feb 5, 2020

• Correct the array size of biasprm, dynprm, and gainprm in PyMJCF's schema.

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Commits on Jan 27, 2020

• Add heterogeneous forage to basic_cmu_2019

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Commits on Jan 23, 2020

• Add a test case to ensure that composer.Environment can produce observation.

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Commits on Jan 20, 2020

• Make Updater.observation_spec() preserve BoundedArray bounds when possible.

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Commits on Jan 14, 2020

• Modify BoxHead camera control to move pitch and yaw, and add geoms to visualize camera orientation.

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  liusiqi43

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Commits on Jan 10, 2020

• Set znear to ensure egocentric camera truncates less of walker geoms.

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Commits on Jan 8, 2020

• Fix image glitches when rendering position detectors from egocentric cameras.

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Commits on Jan 7, 2020

• Allow FieldBox to be added to the environment with ball rebound.

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  liusiqi43

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• Fix a bug in `egl_ext.py` due to mismatching `EGLDeviceExt` pointer types

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Commits on Jan 3, 2020

• Add note about rodent model (coming soon).

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• Added observations appendages_pos and body_quats, which measure the appendage positions and body quaternions in the egocentric frame.

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Commits on Dec 20, 2019

• Added math.py with utility functions for quaternions. Refactored parse_amc.py to depend on math.py.

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Commits on Dec 18, 2019

• Use `six.moves.map` in `autowrap/header_parsing.py`.

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