Version 0.3.0

Dedicated ActuatorManager

It never felt right having all the actuator settings as part of the action manager. So as part of version 0.3.0, I've created a dedicated ActuatorManager. Your existing environments will still work, but you should update them soon, as these settings will be removed from the action manager in a future release.

The best part about this update is that you can now apply specific noise ranges to individual actuator settings. For example:

self.actuator_manager = ActuatorManager(
    self,
    joint_names=[".*"],
    default_pos={
        # Randomize the default positions by +/- 0.05 radians
        ".*_hip_joint": NoisyValue(0.0, 0.02),
        "FL_thigh_joint": NoisyValue(0.8, 0.02),
        "FR_thigh_joint": NoisyValue(0.8, 0.02),
        "RL_thigh_joint": NoisyValue(1.0, 0.02),
        "RR_thigh_joint": NoisyValue(1.0, 0.02),
        ".*_calf_joint": NoisyValue(-1.5, 0.02),
    },
    kp=NoisyValue(25, 2.0),  # +/- 2.0
    kv=NoisyValue(0.5, 0.05),  # +/- 0.05
    damping=NoisyValue(2.0, 0.05),  # +/- 0.05
    frictionloss=NoisyValue(0.2, 0.05),  # +/- 0.05
)
self.action_manager = PositionActionManager(
    self,
    scale=0.25,
    use_default_offset=True,
    actuator_manager=self.actuator_manager,
)

Learn more about the actuator manager.

Other changes

• Added increment_range to the command manager
• Add increment_weight and increment_param to reward config items.
• Misc. bug fixes.

Version 0.2.2

• Fix the Genesis typing imports to avoid init exceptions (bug)
• Added the Berkeley Humanoid to the examples.

Version 0.2.1

• Set Genesis version to 0.3.4

Version 0.2.0

• Added observation groups (i.e. policy vs `critic)
• Added history_len to observation manager
• Added delay_step to action managers to add latency to actions
• Added last_episode_mean_reward to reward manager to make getting the last calculated episode reward easier for curriculums
• Added body_acceleration_exp reward
• Added the Gait Trainer example

v0.1.x

Beta Release

This is the initial release of Genesis Forge. It should be mostly stable, but there are likely bugs, and the API is subject to change.

Give it a try and let me know what you think!