v1.3

Release Notes:

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

New Environments:

• Add MaMuJoCo-v1 Environments @Kallinteris-Andreas (#196)
• Added Fetch-v3 and HandReach-v2 environments that fix reproducibility issues @amacati (#208)
• Add AntMaze_*-v5 environments, featuring support for loading Third party robot models to Maze @Kallinteris-Andreas (#217)

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 torso → root.

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:

• Now supports and requires gymnasium>=1.0 @Kallinteris-Andreas (#211)

Bug Fixes:

Dependency Updates:

• Added support for python==3.12 @Kallinteris-Andreas (#231)

Minor Changes:

• [adroit environments] Minor Cleanup: assignment of goal_achieved @Kallinteris-Andreas (#205)
• Add asserts for mj_id2name calls in mujoco_utils @DavidPL1 #218

Documentation Updates:

• minor typo fix #221 @timofriedl
• many Documentation updates and fixes by @Kallinteris-Andreas

New Contributors

• @amacati made their first contribution in #208
• @DavidPL1 made their first contribution in #218
• @timofriedl made their first contribution in #221

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