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Changelog

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

[0.2.0] - 2026-03-16

Added vision-based PPO training configs for CartpoleBalance and PandaPickCubeCartesian with tuned hyperparameters.
Update vision notebooks to use MuJoCo Warp.
Default MuJoCo implementation for all envs is now MuJoCo Warp.
Renamed deprecated nconmax / nccdmax config fields to naconmax / naccdmax across all environments, matching the updated MJX API.

[0.1.0] - 2026-01-07

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.
Update dependencies to use mujoco>=3.4 and warp-lang>=1.11.

[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 #142.
Fix bug in get_qpos_ids.
Implement render in Wrapper.
Fix #123.
Fix #126.
Fix #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.