Gymnasium-Robotics

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Fix reproducibility issues in Fetch environments

12

# Description The gymnasium API allows users to seed the environment on each reset to yield reproducible results. Running the environment with the same seed should always give the exact...

amacati

Change XML saving for maze to fix infrequent crash

10

# Description I changed the way that temporary xmls are stored for the maze envs. I have used this change for training and it improves stability, without it my training...

mishmish66

# Description new `xml_file` argument adds the ability to load robot, that can be loaded with `gymnasium/mujoco` environments example with Skydio X2 drone: ```py env = gymnasium.make('AntMaze_UMaze-v4', xml_file="/home/master-andreas/gym/maze_new/mujoco_menagerie/skydio_x2/scene.xml", max_episode_steps=100, max_geom=100000)...

Kallinteris-Andreas

Updated Dense Reward for Maze tasks

4

# Description Updated the dense reward of Maze environments from exp(-distance) to -distance Fixes #175 ## Type of change Please delete options that are not relevant. - [ ] Bug...

siddarth-c

### Proposal see https://github.com/Farama-Foundation/Gymnasium/issues/993

Kallinteris-Andreas

[Bug Report] reset_mocap_welds doesn't work properly

6

**Describe the bug** The function `reset_mocap_welds` in [mujoco_utils.py](https://github.com/Farama-Foundation/Gymnasium-Robotics/blob/main/gymnasium_robotics/utils/mujoco_utils.py#L74) doesn't work properly. ```python def reset_mocap_welds(model, data): """Resets the mocap welds that we use for actuation.""" if model.nmocap > 0 and model.eq_data...

pmh5050

[Question] Maze Dense Reward

3

### Question Looking at the dense reward function for Maze Env: return np.exp(-np.linalg.norm(desired_goal - achieved_goal)) The agent seems to prefer sitting the ball as close as possible to the goal...

llewynS

[Question] `reset_mocapxbody()` in `mocap_set_action()`

3

### Question Hi, I have a robotic arm and am controlling it using a mocap body and `mocap_set_actoin()` provided in `mujoco_utils`. What I am observing is that every time I...

matinmoezzi

[Bug Report] FetchPickAndPlace-v2 does not yield reproducible results

7

**Describe the bug** The gymnasium API allows users to seed the environment on each reset to yield reproducible results. Running the environment with the same seed should always give the...

amacati

[Proposal] Environment should terminate when adroit hand pen drops the pen

8

### Proposal In AdroitHandPen, when the agent drops the pen, there is no way to recover, but the environment still does not terminate. The proposal, as in #111, is to...

jjshoots