Dev#155
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Point cloud utility functions for mujoco [Draft]
… compliance. Envs now overwrite the correct _reset function. Gym compliance is now preserved across the defaulting envs
- gym/gymnasium compatibility doesn't port over when custom reset is provided - we are now recommending a call to super().reset(**kwargs) to get the appropritae return type ensuring compatibility
np.product -> np.prod for np 2.0 compatibility
bump pyh5 and pin numpy
1. FEATURE: Explicitely marks the closure of the trace
2. BUGFIX: Introduces create_datum. create_dataset is updated and is now reserved for adding full datasets (shouldn't be edited later). If appending is needed first create_datum() and then follow it with repeated calls to append_datum().
3. BUGFIX: verify_type is stricter now. It goes beyond checking for root dtypes. It thoroughly checks for type, shapes, keys - even for nested structures. This implies that dict{datum} also needs to maintain its internal keys to support append leading to further consistency
4. FEATURE: Much like rendering of rgb datasets, now trace supports plotting of numerical datasets using a list(grp_keys)_ng and list(list(dataset_keys))_ng
5. Adds multiple tests to check for data consistency and plotting consistency
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… can be further improved by having a global settings of rnumerical precision throughout the repo
Minor upgrades
dependency update and code alignment
fix workflow
fix actuator_moment usage
andreh1111
approved these changes
May 13, 2026
fix time_wall update
…s in robot_config. Currently it was hardcoded to sim so when the definitions in config differend from sim, things didn't line up accurately. Now hardware_apply_controls() also accepts the space in which controls is provided
BUGFIX: Making indexing agnostic to of Robot Config order
# sim_id: ID of the sensor/actuator in the sim
> # hdr_id: ID of the sensor/actuator in the robot_config (hardware) space (robot_config unifies different hardware into a single unified hardware space)
# adr: Address of the sensor/actuator in the individual hardware space (e.g. dynamixel) (This is the address used during communicate with the individual hardware)
MAJOR: REFACTOR: Improve robot space definitions
[fix] render-window crash due to window-deletion; add parse_mjl.py from vive
…eck for existance of 'time' key for sensors
…rry complex data from the hardware into sensordata field of the model. Reply on sensordata field to create obs and obs_dicts
…e 0-d scalars squeeze_dims() previously did a blanket np.squeeze(), which removed every singleton dimension instead of just the (num_traj=1, horizon=1) wrapper added by expand_dims(). Single-value observations (e.g. shape (1,)) were squeezed all the way down to 0-d scalars, which then failed to concatenate with other proprio/obs vectors in get_proprioception() and obsdict2obsvec(). Now only squeeze the leading axes that expand_dims actually added, leaving real data dimensions (and pre-existing scalar rwd_dict entries) untouched.
Extend supported sensors
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