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@rodrigodelazcano rodrigodelazcano released this 16 May 16:45
· 172 commits to main since this release
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Gymnasium-Robotics 1.2.1 Release Notes:

This minor release adds new Multi-agent environments from the MaMuJoCo project. These environments have been updated to follow the PettingZoo API and use the latest mujoco bindings. In addition, the updates made for the first release of FrankaKitchen-v1 environment have been reverted in order for the environment to resemble more its original version in relay-policy-learning and D4RL. This will solve existing confusion with the action space (#135) and facilitate the re-creation of datasets in Minari.

We are also pining the mujoco version to v2.3.3 until we address the following issue (google-deepmind/mujoco#833).

Breaking Changes

  • Revert FrankaKitchen-v1 environment to original. @rodrigodelazcano in #145. These changes involve:
    • robot model: use the Franka robot model of the original environment instead of the model provided in mujoco_menagerie
    • action space: remove the Inverse Kinematic control option and maintain a single action space, the original joint velocity control.
    • goal tasks: some task have been removed which were not present in the original environment (top_right_burner and bottom_right_burner). Also the tasks name now match the original naming.

New Features

Bug Fixes

  • Add missing underscore to fix rendering by @frankroeder in #102
  • Correct point_obs slicing for achieved_goal in PointMaze environments by @dohmjan in #105
  • Update the position of the goal every reset in AntMaze environment by @nicehiro in #106
  • Correct FetchReach environment versioning from v3 to v2 by @aalmuzairee in #121
  • Fix issue #128 . Use jnt_doafdr instead of nt_qposadr for the mujoco_utils.get_joint_qvel() utility function. by @rodrigodelazcano in #129
  • Correct x, y scaling for Maze environments @rodrigodelazcano in #110
  • Fix door state space key by @rodrigodelazcano in #130
  • Make getter functions for qpos / qvel return copies by @hueds in #136

Minor Changes

Documentation

Full Changelog: v1.2.0...v1.2.1