# Changelog

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

The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),

and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).

## [2.4.0] - 2024-05-13

[FEATURE] Added 3CC-r Fatigue Model (#167). Thanks to @fl0fischer

[FEATURE] Update to MuJoCo 3.1.2 and dm-control 1.0.16 (2bddf8c)

[BUGFIX] Fixed Tutorial `2_Load_Policy.ipynb` (038457a)

## [2.3.0] - 2024-05-01

[FEATURE] Support for both Gym/Gymnasium (#142)

[FEATURE] Add support for TorchRL by @vmoens (5efdf93)

[FEATURE] Improve Inverse Dynamics tutorial (98daff2). Thanks to @andreh1111

## [2.2.0] - 2024-01-20

[FEATURE] Inverse dynamics tutorial. Thanks to @andreh1111 #121

[RELEASE] MyoArm and MyoLeg models (4c01023, cd9a25e)

[RELEASE] MyoChallenge'23 environments release (#128)

[BUGFIX] Fixed heightfield collisions for myoleg scenes #132

[BUGFIX] Fixed names of data keys from _int to _init in myodm by @andreh1111 in (#119)

## [1.3.0] - 2023-01-11

- Rebase and building on RoboHive v0.3

## [1.2.4] - 2022-11-12

- fix Baoding Ball environment for MyoChallenge Phase 1

## [1.2.3] - 2022-10-21

- update horizon for MyoChallenge Die Reorient task - Phase 2

## [1.2.2] - 2022-10-21

- update MyoChallenge Die Reorient task and Baoding Ball to Phase 2

## [1.2.1] - 2022-10-09

- update horizon for MyoChallenge Die Reorient task

- update tutorials

## [1.2.0] - 2022-08-13

- Rebase and building on RoboHive v0.2

- Adding the myochallenge envs

- Fundamental bugfixes on the RoboHive engine

- Bugfixes on myo environments as well

- Closes baselines are on RoboHive-v0.2

- Next planned baseline release will align when Robohive-v0.3dev moves to prerelease.

- Renaming the metrics for clarity and changed sign from `act_mag` to `effort` and `solved` to `score`

## [1.1.0] - 2022-08-12

- Upgrade to mj_env v0.2 experimental

- add Die Rotation and Baoding Ball task for MyoChallenge (https://sites.google.com/view/myochallenge)

## [1.0.1] - 2022-05-23

- First Release of MyoSuite.

- Basic Documentation