Changelog#

Release v1.1.1a2 (2025-07-30)#

General#

  1. Add a callback to the BasicPlanarRoboticsSingleAgentEnv to allow the user to check for collisions other than collisions with walls or movers, such as collisions with an obstacle. This callback is called in the step method after each simulation step and in the reset method. The output of the callback is also forwarded to _get_info, so that information about other collisions can be included in the info dictionary.

Release v1.1.1a1 (2025-06-27)#

General#

  1. BasicPlanarRoboticsEnv: Add an parameter to specify the scale for a mover mesh separately from the size option (@cedricgrothues)

Release v1.1.1a0 (2025-06-27)#

General#

  1. BenchmarkPushingEnv: add the option to set a specific start position of the mover and a specific goal position of the object when resetting the environment

Release v1.1.0 (2025-06-17)#

General#

  1. Add different mover types (cylinder, mesh) (@cedricgrothues)

Release v1.0.4 (2025-06-12)#

General#

  1. Update dependencies (now supports gymnasium>=0.29.1)

  2. Update supported Python versions (3.11, 3.12, 3.13)

Release v1.0.3 (2025-01-14)#

General#

  1. Add grid lines to visualize tile boundaries (@cedricgrothues)

Release v1.0.2 (2024-07-30)#

Bug Fixes#

  1. Fixed a bug in BenchmarkPlanningEnv (mover actuator XML string) where different mover masses were not taken into account

Release v1.0.1 (2024-05-28)#

General#

  1. Added the basic environments: BasicPlanarRoboticsEnv, BasicPlanarRoboticsSingleAgentEnv, BasicPlanarRoboticsMultiAgentEnv

  2. Added the BenchmarkPushingEnv and BenchmarkPlanningEnv environments: two simple example environments for motion planning and object manipulation.

  3. Added a MoverImpedanceController that solves a position and orientation task.

  4. Added the MujocoOffScreenViewer: an extension of the Gymnasium OffScreenViewer that allows to also specify the groups of geoms to be rendered by the off-screen renderer.

  5. Added the MujocoViewerCollection: a manager for all renderers in a MuJoCo environment.

  6. Added the Matplotlib2DViewer: a simple viewer that displays the tile and mover configuration together with the mover collision offsets for debugging and analyzing planning tasks.

  7. Added auxiliary functions for MuJoCo, collision checking and rotations