v3.0.0b6

What's Changed

• use zeros_like in scene setup gpu to avoid nan by @hzaskywalker in #400
• Dense Rews PullCube & LiftPegUpright by @Xander-Hinrichsen in #403
• Update docstring to correctly cite ReplicaCAD as default by @chennisden in #410
• [BugFix] Replaces the default gymnasium timelimit wrapper with a batched/torch version when gym.make is used by @StoneT2000 in #416
• [Feature] Expose articulation acceleration values by @StoneT2000 in #415
• [BugFix] Fix bug where motion planning example code kept trying to recreate grasp pose visual objects by @StoneT2000 in #428
• [Docs] In ReplicaCAD scene builder, fix comment documenting ASSET_DIR location by @chennisden in #430
• Remove unnecessary global declaration by @chennisden in #433
• [Feature] add G1 robot by @matheecs in #405
• [Feature] Add a floating panda gripper and update missing docs on new robots by @StoneT2000 in #436
• Initialize qvel when resetting for control_mode = "pd_joint_pos_vel" by @sean1295 in #432
• [Feature] Add RLPD Baseline by @StoneT2000 in #437
• Update Docs by @Xander-Hinrichsen in #441
• [Feature] Support ppo_rgb with rgb only, no state. And some bug fixes for ppo_rgb for locomotion tasks by @StoneT2000 in #446
• [BugFix] Fix bug where linear/angular velocities are swapped in GPU sim vs CPU sim by @StoneT2000 in #452
• [Docs] Update RFCL baseline documentation to pin compatible jax/torch… by @StoneT2000 in #453
• Control Hopper Env, Stand + Hop by @Xander-Hinrichsen in #440
• [Feature] New assets for floor/lighting and support for recording all envs in one scene in the parallel GUI render mode by @StoneT2000 in #445
• [Feature] SIm/Render device selection by @StoneT2000 in #455
• [Feature] Automatic asset download checks by @StoneT2000 in #456
• simbackend for cpu by @hzaskywalker in #459
• [Feature] New assets, vision based quadruped reach example, and new render all mode by @StoneT2000 in #461
• [Feature] Add unitree go 2 task with simplified collisions and new penalty for quadruped reach for better gaits by @StoneT2000 in #463
• [Feature] Quadruped spin control task by @StoneT2000 in #464
• [Docs] Update renders with new floor texture and update docs on humanoid tasks by @StoneT2000 in #465
• [BugFix] Fix memory leak by forcing a gc.collect upon reconfiguring by @StoneT2000 in #467
• [BugFix] Fix multi-gpu setup documentation and future proof some code by @StoneT2000 in #468
• [Docs] Documentation on proper RL benchmarking and state based PPO results by @StoneT2000 in #470
• [Feature] Basic support for stable baselines 3 by @StoneT2000 in #476
• [Feature] Code to support future render system by @StoneT2000 in #480
• [BugFix] Add back pytorch kinematics which is likely more stable by @StoneT2000 in #485
• [Feature] Add in vectorized TDMPC-2 Baseline by @t-sekai in #451
• [Docs] Update docs and fix some bugs with autodoc by @StoneT2000 in #487
• [Feature] Align RFCL and RLPD training metrics with other RL baselines by @StoneT2000 in #489
• [BugFix] Adding missing init.py file for users who pip install from git by @StoneT2000 in #491

New Contributors

• @chennisden made their first contribution in #410
• @matheecs made their first contribution in #405
• @sean1295 made their first contribution in #432
• @t-sekai made their first contribution in #451

Full Changelog: v3.0.0b5...v3.0.0b6