v0.1.0

First public release of mppi-isaac, an open-source implementation of a model predictive path integral controller (MPPI) that utilizes the GPU-parallelizable physics simulator IsaacGym, as the dynamical model, enabling effortless solutions to a wide range of contact-rich tasks in robotics.

This version will be accompanied by our workshop paper, presented at ICRA 2023 during the embracing contacts workshop. Find the workshop paper on openreview.