Release Notes

Highlights

This release focuses on updating dependencies, refining Python version support, and migrating legacy MuJoCo environments to a new package.

What's Changed

• Dependency Update: gymnasium is now required to be version 1.2 or higher.
• Python Support:
  • Added support for Python 3.13.
  • Dropped support for Python 3.8 and 3.9.
• MuJoCo Environments v2 & v3 Migration: The Gymnasium/MuJoCo environments (v2 and v3), which were based on the legacy mujoco_py library, have been moved to the Gymnasium-Robotics package. This move was completed in pull request #271 @Kallinteris-Andreas and @pseudo-rnd-thoughts

For Users of Legacy mujoco-py Environments:

To ensure compatibility, the legacy environments now rely on the mujoco-py-cython3 package. You can install the necessary extras with:

pip install gymnasium-robotics[mujoco_py]

If you need to use older mujoco-py versions for your work, you can now use the mujoco-py-original extra:

pip install gymnasium-robotics[mujoco_py_original]