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v0.1.0

Added

  • Added support for parallelization using MJWarp
    • Parallel simulation backend using MJWarp
    • GPU accelerated data collection in run_mpc

Changed

  • Added an optional GPU test since GPU runners aren't currently available on repo

Dev

  • Updated mujoco to >=3.5.0 to support MJWarp

v0.0.7

Added

  • Spot quadruped robot support with locomotion policy integration (@dta-bdai, #110)
    • SpotBase task base class with locomotion policy command interface
    • SpotTireUpright task: flip a tire from flat to upright using Spot's arm
    • mujoco_extensions C++ pybind11 module for threaded policy rollout with ONNX inference
    • PolicyMJSimulation and PolicyMJRolloutBackend for simulation with locomotion policy
    • Spot MuJoCo XML primitives (body, legs, arm, actuators, contacts, sensors)
    • Tire object XML with collision meshes
    • Automatic mesh downloading from GitHub releases
  • Added robot_descriptions dependency for loading mujoco_menagerie Spot meshes

Changed

  • Switched fully to pixi for environment management; removed conda instructions from README. pixi provides reproducible environments via lock file with per-Python-version environments (py310–py313)
  • Overhauled PyPI wheel building pipeline. Wheels now include the compiled mujoco_extensions C++ extension with ONNX Runtime baked in via auditwheel repair (scripts/repair_wheel.sh). Per-Python-version wheels (cp310–cp313) are built, repaired, published to TestPyPI for validation, then promoted to PyPI
  • Rewrote all CI workflows to use pixi instead of pip install:
    • test.yml — builds mujoco_extensions with build caching, downloads meshes, pre-warms robot_descriptions cache to avoid pytest-xdist race conditions
    • precommit.yml — simplified to single runner (was matrix of OS x Python)
    • pypi_publish.yml — full build matrix (2 OS x 4 Python), TestPyPI staging with dev version suffix, install verification, then PyPI publish

Fixed

  • Fixed viser trace visualization bug (#107)

Dev

  • Pinned mujoco to >=3.5.0,<3.6 for API compatibility
  • Bump dependency group updates (#109)
  • Added auditwheel, build, cmake, pybind11, onnxruntime to dev dependencies
  • Added mesh upload script (scripts/upload_meshes.sh)

v0.0.6

Added

  • New copyrights

Fixed

  • Fixed bug that caused Viser and Mujoco to crash on visualization due to different API
  • Added pycparser deps
  • Fixed a new mujoco API compatibility

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

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

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 release!