1.4.3

As always, we have a LOT of new updates and this time they are mostly community-driven.

Ovewrview

Terminated/truncated support and Gymnasium wrapper #143

Thanks to @LukasSchaefer, we now have the option to return terminated and truncated from vmas envs instead of done.

We further have wrappers for gymnasium (single vmas env) and vectorized gymnasium, which wraps a batched vmas environemnt, maintaining the n_envs dimension in the data.

Choose how you want to discretize continuous actions #119

Before, continuous actions were discretized in 3 options: increase, decrease, stay

Now, thanks to @rikifunt, you can choose how many options you want to split the continuous range in!

Vectorized lidars #124

Lidars have multiple rays that can see multiple entities. Thanks to @Zartris we know have vectorized both these dimensions making scaling seamless in the number of rays.

VIsualize the boundaries of the world #142

Thanks to @Giovannibriglia, if you set the world bouindaries in a scenario, VMAS now automatically plots them

More dynamics #125

• Static: no movement actions
• Forward: just froward and backwards force in the direction of the orientation
• Rotation: just rotation action

Breaking changes

• env.unwrapped() -> env.unwrapped in GymWrapper
• removed from "discovery" a redundant agent.state.pos in observation

What's Changed

• [Feature] Joint rotation offset and more dynamics by @matteobettini in #125
• [BugFix] Fixed joints inferred angle by @matteobettini in #127
• [Feature] Warn if spwaning entities takes too long by @matteobettini in #128
• [Feature] different number of actions for each action dimension (discrete actions) by @rikifunt in #119
• Introduce x_semidim and y_semidim parameters to enable customizable environment dimensions by @Giovannibriglia in #133
• [BugFix] Discovery obs by @matteobettini in #137
• [Bug fix] Navigation scenario: ensure entity placement within constrained environment boundaries by @Giovannibriglia in #139
• [Feature] Enable to set the number of lidar rays in navigation, discovery and flocking scenarios by @Giovannibriglia in #141
• [Feature] Boundary visualization for limited-size environments by @Giovannibriglia in #142
• [Feature] Terminated/truncated support and Gymnasium wrapper by @LukasSchaefer in #143

New Contributors

• @rikifunt made their first contribution in #119
• @Giovannibriglia made their first contribution in #133
• @LukasSchaefer made their first contribution in #143

Full Changelog: 1.4.2...1.4.3