CHANGELOG.md

Changelog

All notable changes to this project will be documented in this file.

Next release

• Pass through the MuJoCo Warp (MjWarp) implementation to MJX, so that MuJoCo Playground environments can train with MuJoCo Warp! You can pass through the implementation via the config override registry.load('CartpoleBalance', config_overrides={'impl': 'warp'}).
• Update environments to utilize contact sensors and remove collision.py.
• Remove mjx_env.init in favor of mjx_env.make_data since make_data now requires an MjModel argument rather than an mjx.Model argument.
• Add device to mjx_env.make_data, fixes #174.
• Update AutoResetWrapper to allow full resets on done. Fixes #179. Also provides a means for doing curriculum learning via state.info['AutoResetWrapper_done_count'], see #140.

[0.0.5] - 2025-06-23

• Change light_directional to light_type following MuJoCo API change from version 3.3.2 to 3.3.3. Fixes google-deepmind#142.
• Fix bug in get_qpos_ids.
• Implement render in Wrapper.
• Fix google-deepmind#123.
• Fix google-deepmind#126.
• Fix google-deepmind#41.

[0.0.4] - 2025-02-07

Added

• Added ALOHA handover task (thanks to @Andrew-Luo1).
• Added Booster T1 joystick task.

Changed

• Fixed foot friction randomization for G1 tasks.
• Fix various bugs in train_jax_ppo.py (thanks to @vincentzhang).
• Fixed a small bug in the privileged state of the go1 joystick task.

[0.0.3] - 2025-01-18

Changed

• Updated supported Python versions to 3.10-3.12.

[0.0.2] - 2025-01-16

Initial release.