title: 'Version 1.3 released'
date: 2017-05-15 11:56:01 -0500
author: kidzik
version: 1.3
categories: [release]

Due to the errors described in issue #31 we updated the environment
introducing the following changes:

• added velocities of joints (previously we had a duplicate of positions of joints)
• added the left psoas in muscles (previously there was only right psoas twice)
• moved obstacles closer to the starting point (so that it's easier to train on them)
• extended the trials to 1000 iterations (if they don't trip/fall earlier as it was before)

In order to switch to the new environment you need to update the osim-rl scripts with the following command:

pip install git+https://github.com/stanfordnmbl/osim-rl.git -U

Since the observation vector changed, you may need to retrain your existing model to account for these new changes.
However, the old observation is in fact a subset of the new observation so if you want to submit the old model

for j in range(6,12):
    observation[j+6] = observation[j]
observation[36] = observation[37]
observation, reward, done, info = env.step(my_controller(observation))

Yet, with new information, your controller should be able to perform betters, so we definitely advise to retrain model.