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@Kallinteris-Andreas Kallinteris-Andreas released this 08 Oct 12:50
· 44 commits to main since this release
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Release Notes:

1.3 Is a Major Release, adding new versions of the environments and supporting gymnasium==1.0.0

New Environments:

MaMuJoCo-V1

  • Now based on Gymnasium/MuJoCo-v5 instead of Gymnasium/MuJoCo-v4 (Farama-Foundation/Gymnasium#572).
  • When factorizatoion=None, the env.gent_action_partitions.dummy_node now contains action_id (it used to be None).
  • Added map_local_observations_to_global_state & optimized runtime performance of map_global_state_to_local_observations.
  • Added gym_env argument, which can be used to load third-party Gymansium.MujocoEnv environments.

Ant

  • Now observes local_categories of cfrc_ext by default (same as Gymnasium/MuJoCo-v5/Ant).
  • Renamed global node torsoroot.

Humanoid(-Standup)

  • No longer observes qfrc_actuator of root & cinert, cvel, qfrc_actuator, cfrc_ext of worldbody (same as Gymnasium/MuJoCo-v5/Humanoid(-Standup)).

Walker2d

  • Fixed bug: global nodes are now [root_x, root_z, root_y] (used to be [root_x, root_x, root_z]).

ManySegmentAnt

  • frame_skip default set to 5 (same as Gymnasium/Ant).
  • option.timestep set to 0.01 (same as Gymnasium/Ant).
  • Now uses the same reward function as Gymnasium/Ant.
  • Now observes cfrc_ext by default, (same as Gymnasium/MuJoCo-v5).

ManySegmentSwimmer

  • Now uses the same option.timestep as Gymansum/Swimmer (0.01).
  • Updated model to work with mujoco>=3.0.0.

Breaking changes:

Bug Fixes:

Dependency Updates:

Minor Changes:

Documentation Updates:

New Contributors

Full Changelog: v1.2.4...v1.3.0