- Added support for end-effector orientation control in the UR5e robot, allowing for 6-DOF inverse kinematics.
- Implemented new WebSocket messages for setting target orientation and toggling orientation usage.
- Updated mujoco_server.py to broadcast end-effector orientation and target orientation in state messages.
- Enhanced the UI to include orientation sliders and display for end-effector orientation.
- Refined README.md to document new features, including orientation control and updated JSON message structures.
Refactor Spot and G1 robot model paths and add new assets
- Updated the path for loading the RL policy in G1 to use local assets.
- Refactored SpotEnv to load the model from local assets instead of MuJoCo Menagerie.
- Added new model files and assets for the Boston Dynamics Spot robot, including various OBJ files for its components.
- Created a changelog and license for the Spot model assets.
