Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

Unreleased 

Fix home key extraction and reduce dummy model size
Revise joint indexing and gripper name prefixing
Revise gripper initialization and attachment logic in model factory
Remove dependency versioning for legacy Python 3.9
Fix and improve mujoco import
Extracted camera intrinsics into a dedicated utility to avoid unnecessary open3d imports.

Switch to hierarchical scene Blueprints with path-based grouping and parent lookup.
Use Blueprint basename as MJCF element name for lookup instead of id.
Add Pose composition operator (@) with stricter validation and accessors.
Add pose helpers in robits.sim.mjcf_utils: set_pose, add_offset_pose, pose_from_element, set_object_pose, get_home_key_qpos.
GeomBlueprint: add mass field; auto-wrap non-static geoms and add a freejoint when needed.
SceneBuilder: add export_with_assets(…); merge all keyframes into home.
Update Attachment: gripper_path/wrist_name/attachment_offset and standardized attachment_site.
sim.env: more robust joint-to-actuator mapping across slidercrank/tendon transmissions.
sim.env: revise get_scene_info() to return pose info and cache per step.
MuJoCo viewer: hide left/right panels when launching the window.
MuJoCo grippers: fix open/close handling for multi-actuator grippers.
Internal: rename robits.sim.utils to robits.sim.mjcf_utils and refactor usages.
Update CI workflow and drop Python 3.9 from version matrix

Added gripper.set_pos()
Simulation modules revised: blueprints, camera, env, env_design, model_factory, utils.
Fix mujoco dependency version for Python 3.9