Gymnasium Upgrade. Multiple teleOP controllers. MuJoCo upgrade

[vikashplus]

RoboHive V0.0.7

• Supports all Gym and Gymnasium versions. Defaults to Gymnasium
• [80ad5bf, 69c1303] Upgraded to MuJoCo 3.1.3
• [777edf3] New teleOperation interfaces (Xbox controllers, spacemouse, keyboard, oculus, controllers)

FEATURE

• [abc3f70] examine_sim.py upgraded to mujoco bindings
• [69c1303] Checks added for FFmpeg
• [676375f, e4414a1] Upgraded env reset to accept optional seed and kwargs
• [fb90d46, ae51c9e] Better depth rendering accuracy
• [89fe9b2, 65bb9d2, 76b3455] moving towards env.unwrapped instead of env.env...
• [1cb8334] Loggers can use nested groups
• [777edf3] Xbox 360 controller based tele-operation

  Myo Suite

  • [15bda40] MyoSuite's base class uses forward call from parent class to avoid duplication
  • [9f32f15, 3397e80, 3f74d12] Upgraded to include MyoSuite's MyoChallenge's developments
  • [3397e80] Adding the arms and legs models.
  • [3397e80] Updating envs to be compatible with gymnasium

BUGFIX

• [82c6ab4] Improved robot class exit. Robot class doesn't delete the persistent robot connection anymore. It relises on the user to close the persistent connection (by calling robot.close() on atleast one of the robot instances) before existing the program. Skipping this for sim-robot shouldn't be a problem. For hardware robot it will leave the robot running. This cleans up the bug that was preventing clean termination due to multiple calls to the robot class.
• [e160593] Removing spurious self collisions in fetch model that was preventing full range of motion
• [7abd6c8, e828a2e] Removing torch dependency from testing.
• [229221a, 7abd6c8] Proper Env seeding post unpickling. Better seeded randomization.
• [3b56770] Removing hardcoded enums from the robot base class.
• [7bea218] Improved MyoSuite sync. SED has a different syntax for -i option on mac.
• [4898218] Camera index 0 gets out of range if no camera is modelled. Defaulting to free camera.
• [315606e] Remove flipping of depth/segmentation buffers

Tests

• [9e41485] adding a bash script that tests across a few versions
• [0069093] check everything for different gym/gymnasium versions

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This discussion was created from the release Gymnasium Upgrade. Multiple teleOP controllers. MuJoCo upgrade.