1.5.0: New Policies

Changes in 1.5.0:

1. Add support for new policies: ✨
   • UnitreeWoGaitPolicy from unitree_rl_lab
   • TwistPolicy from TWIST, as #9
   • KungfuBotGeneralPolicy from PBHC-KungfuBot2, as #13
2. Fix #10, improve stability for BeyondmimicPolicy with G1FlatEnvCfg.
3. Update control mapping for AmoPolicy, enable flexible yaw turning.
4. Add config in Pipeline for safety_check feature.
5. Several optimizations.

Full Changelog: 1.4.2...1.5.0

1.4.2 several optimizations

Changes in 1.4.2:

1. Optimize performance on ARM platforms, reduce the time fluctuation
   • debug log is disabled by default
2. Optimize sim2real safety
   • when robot falls, auto shutdown
3. Fix upper body pos when prepare in LocoMimicPipeline
4. Change the default cam angle in MujocoEnv

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Changes in 1.4.1:
we opti config for LocoMimicPipeline, so you can change the locomotion upper body position. check g1_locomimic_pipeline_cfg

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We have several fixes and new features in 1.4.0:

1. Fix #1 and #3 : The UnitreeCfg for real-robot deployment is now clearer — you only need to change the network interface name.
2. Fix #2 : Fixed control jitter caused by the UnitreeCpp module.
   → Remember to update unitree_cpp by running:

   python submodule_install.py unitree_cpp

3. ⭐Added support for: ASAP and KungfuBot. check AsapPolicy
4. ⭐New feature – LocoMimicPipeline:
   Multi-policy switching has been upgraded!
   When running motion mimic policies with LocoMimicPipeline, transitions between policies are now automatically and smoothly blended.
   Check out LocoMimic Example and try it out!
   LocoMimicPipeline supports arbitrary combinations of multiple locomotion and motion mimic policies, making it ideal for real-robot performance and deployment.

7. Improved user terminal interface:
   Added an always-on bottom progress bar for a cleaner, more informative user experience.

1.4.1 opti LocoMimicPipeline

Changes in 1.4.1:
we opti config for LocoMimicPipeline, so you can change the locomotion upper body position. check g1_locomimic_pipeline_cfg

We have several fixes and new features in 1.4.0:

1. Fix #1 and #3 : The UnitreeCfg for real-robot deployment is now clearer — you only need to change the network interface name.
2. Fix #2 : Fixed control jitter caused by the UnitreeCpp module.
   → Remember to update unitree_cpp by running:

   python submodule_install.py unitree_cpp

3. ⭐Added support for: ASAP and KungfuBot. check AsapPolicy
4. ⭐New feature – LocoMimicPipeline:
   Multi-policy switching has been upgraded!
   When running motion mimic policies with LocoMimicPipeline, transitions between policies are now automatically and smoothly blended.
   Check out LocoMimic Example and try it out!
   LocoMimicPipeline supports arbitrary combinations of multiple locomotion and motion mimic policies, making it ideal for real-robot performance and deployment.

5. Improved user terminal interface:
   Added an always-on bottom progress bar for a cleaner, more informative user experience.

1.4.0 add LocoMimicPipeline

We have several fixes and new features in 1.4.0:

1. Fix #1 and #3 : The UnitreeCfg for real-robot deployment is now clearer — you only need to change the network interface name.
2. Fix #2 : Fixed control jitter caused by the UnitreeCpp module.
   → Remember to update unitree_cpp by running:

   python submodule_install.py unitree_cpp

3. ⭐Added support for: ASAP and KungfuBot. check AsapPolicy
4. ⭐New feature – LocoMimicPipeline:
   Multi-policy switching has been upgraded!
   When running motion mimic policies with LocoMimicPipeline, transitions between policies are now automatically and smoothly blended.
   Check out LocoMimic Example and try it out!
   LocoMimicPipeline supports arbitrary combinations of multiple locomotion and motion mimic policies, making it ideal for real-robot performance and deployment.

5. Improved user terminal interface:
   Added an always-on bottom progress bar for a cleaner, more informative user experience.

1.3.2 add ASAP

1.3.2: add ASAP support

1.3.1-bugfix on odometry cfg

fix #1, odometry cfg on unitree

1.3.0-FirstVersion

add license