From f2754e19011a6ef329a40efc92dfa4bad81a22d3 Mon Sep 17 00:00:00 2001
From: Kallinteris Andreas
 <30759571+Kallinteris-Andreas@users.noreply.github.com>
Date: Thu, 7 Dec 2023 17:38:54 +0200
Subject: [PATCH 01/11] Update pyproject.toml pytrhon version to 3.8 (#191)

---
 pyproject.toml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/pyproject.toml b/pyproject.toml
index 2a5aea19..ecaf5295 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -106,7 +106,7 @@ exclude = [
 strict = []
 
 typeCheckingMode = "basic"
-pythonVersion = "3.7"
+pythonVersion = "3.8"
 pythonPlatform = "All"
 typeshedPath = "typeshed"
 enableTypeIgnoreComments = true

From 2686388cc978d20cef9ede258cb3d7bcd91b294a Mon Sep 17 00:00:00 2001
From: Daniel CH Tan <dtch1997@users.noreply.github.com>
Date: Mon, 11 Dec 2023 21:29:49 +0000
Subject: [PATCH 02/11] Register PointMaze_Open_Diverse_GR

---
 gymnasium_robotics/__init__.py | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/gymnasium_robotics/__init__.py b/gymnasium_robotics/__init__.py
index 05a68223..18bd806d 100644
--- a/gymnasium_robotics/__init__.py
+++ b/gymnasium_robotics/__init__.py
@@ -1111,6 +1111,18 @@ def _merge(a, b):
             max_episode_steps=300,
         )
 
+        register(
+            id=f"PointMaze_Open_Diverse_GR{suffix}-v3",
+            entry_point="gymnasium_robotics.envs.maze.point_maze:PointMazeEnv",
+            kwargs=_merge(
+                {
+                    "maze_map": maps.OPEN_DIVERSE_GR,
+                },
+                kwargs,
+            ),
+            max_episode_steps=300,
+        )
+
         register(
             id=f"PointMaze_Medium{suffix}-v3",
             entry_point="gymnasium_robotics.envs.maze.point_maze:PointMazeEnv",

From f822c402fd144a8a6ce6da696d6b4355348746b1 Mon Sep 17 00:00:00 2001
From: Seth Pate <swpate@icloud.com>
Date: Thu, 21 Dec 2023 16:43:38 -0500
Subject: [PATCH 03/11] update observation space docstring: obs[6:8] is
 actually block - gripper

---
 gymnasium_robotics/envs/fetch/pick_and_place.py | 6 +++---
 gymnasium_robotics/envs/fetch/push.py           | 6 +++---
 gymnasium_robotics/envs/fetch/slide.py          | 6 +++---
 3 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/gymnasium_robotics/envs/fetch/pick_and_place.py b/gymnasium_robotics/envs/fetch/pick_and_place.py
index f975c361..b6d0673c 100644
--- a/gymnasium_robotics/envs/fetch/pick_and_place.py
+++ b/gymnasium_robotics/envs/fetch/pick_and_place.py
@@ -45,9 +45,9 @@ class MujocoFetchPickAndPlaceEnv(MujocoFetchEnv, EzPickle):
     | 3   | Block x position in global coordinates                                                                                                | -Inf   | Inf    | object0                               |-                                       |-         | position (m)             |
     | 4   | Block y position in global coordinates                                                                                                | -Inf   | Inf    | object0                               |-                                       |-         | position (m)             |
     | 5   | Block z position in global coordinates                                                                                                | -Inf   | Inf    | object0                               |-                                       |-         | position (m)             |
-    | 6   | Relative block x position with respect to gripper x position in globla coordinates. Equals to x<sub>gripper</sub> - x<sub>block</sub> | -Inf   | Inf    | object0                               |-                                       |-         | position (m)             |
-    | 7   | Relative block y position with respect to gripper y position in globla coordinates. Equals to y<sub>gripper</sub> - y<sub>block</sub> | -Inf   | Inf    | object0                               |-                                       |-         | position (m)             |
-    | 8   | Relative block z position with respect to gripper z position in globla coordinates. Equals to z<sub>gripper</sub> - z<sub>block</sub> | -Inf   | Inf    | object0                               |-                                       |-         | position (m)             |
+    | 6   | Relative block x position with respect to gripper x position in global coordinates. Equals to x<sub>block</sub> - x<sub>gripper</sub> | -Inf   | Inf    | object0                               |-                                       |-         | position (m)             |
+    | 7   | Relative block y position with respect to gripper y position in global coordinates. Equals to y<sub>block</sub> - y<sub>gripper</sub> | -Inf   | Inf    | object0                               |-                                       |-         | position (m)             |
+    | 8   | Relative block z position with respect to gripper z position in global coordinates. Equals to z<sub>block</sub> - z<sub>gripper</sub> | -Inf   | Inf    | object0                               |-                                       |-         | position (m)             |
     | 9   | Joint displacement of the right gripper finger                                                                                        | -Inf   | Inf    |-                                      | robot0:r_gripper_finger_joint          | hinge    | position (m)             |
     | 10  | Joint displacement of the left gripper finger                                                                                         | -Inf   | Inf    |-                                      | robot0:l_gripper_finger_joint          | hinge    | position (m)             |
     | 11  | Global x rotation of the block in a XYZ Euler frame rotation                                                                          | -Inf   | Inf    | object0                               |-                                       |-         | angle (rad)              |
diff --git a/gymnasium_robotics/envs/fetch/push.py b/gymnasium_robotics/envs/fetch/push.py
index 707f850e..57545ac9 100644
--- a/gymnasium_robotics/envs/fetch/push.py
+++ b/gymnasium_robotics/envs/fetch/push.py
@@ -73,9 +73,9 @@ class MujocoFetchPushEnv(MujocoFetchEnv, EzPickle):
     | 3   | Block x position in global coordinates                                                                                                | -Inf   | Inf    | object0                               |-                                       |-         | position (m)             |
     | 4   | Block y position in global coordinates                                                                                                | -Inf   | Inf    | object0                               |-                                       |-         | position (m)             |
     | 5   | Block z position in global coordinates                                                                                                | -Inf   | Inf    | object0                               |-                                       |-         | position (m)             |
-    | 6   | Relative block x position with respect to gripper x position in globla coordinates. Equals to x<sub>gripper</sub> - x<sub>block</sub> | -Inf   | Inf    | object0                               |-                                       |-         | position (m)             |
-    | 7   | Relative block y position with respect to gripper y position in globla coordinates. Equals to y<sub>gripper</sub> - y<sub>block</sub> | -Inf   | Inf    | object0                               |-                                       |-         | position (m)             |
-    | 8   | Relative block z position with respect to gripper z position in globla coordinates. Equals to z<sub>gripper</sub> - z<sub>block</sub> | -Inf   | Inf    | object0                               |-                                       |-         | position (m)             |
+    | 6   | Relative block x position with respect to gripper x position in global coordinates. Equals to x<sub>block</sub> - x<sub>gripper</sub> | -Inf   | Inf    | object0                               |-                                       |-         | position (m)             |
+    | 7   | Relative block y position with respect to gripper y position in global coordinates. Equals to y<sub>block</sub> - y<sub>gripper</sub> | -Inf   | Inf    | object0                               |-                                       |-         | position (m)             |
+    | 8   | Relative block z position with respect to gripper z position in global coordinates. Equals to z<sub>block</sub> - z<sub>gripper</sub> | -Inf   | Inf    | object0                               |-                                       |-         | position (m)             |
     | 9   | Joint displacement of the right gripper finger                                                                                        | -Inf   | Inf    |-                                      | robot0:r_gripper_finger_joint          | hinge    | position (m)             |
     | 10  | Joint displacement of the left gripper finger                                                                                         | -Inf   | Inf    |-                                      | robot0:l_gripper_finger_joint          | hinge    | position (m)             |
     | 11  | Global x rotation of the block in a XYZ Euler frame rotation                                                                          | -Inf   | Inf    | object0                               |-                                       |-         | angle (rad)              |
diff --git a/gymnasium_robotics/envs/fetch/slide.py b/gymnasium_robotics/envs/fetch/slide.py
index 2417f614..bc0dbf4e 100644
--- a/gymnasium_robotics/envs/fetch/slide.py
+++ b/gymnasium_robotics/envs/fetch/slide.py
@@ -74,9 +74,9 @@ class MujocoFetchSlideEnv(MujocoFetchEnv, EzPickle):
         | 3   | Puck x position in global coordinates                                                                                                 | -Inf   | Inf    | object0                               |-                                       |-         | position (m)             |
         | 4   | Puck y position in global coordinates                                                                                                 | -Inf   | Inf    | object0                               |-                                       |-         | position (m)             |
         | 5   | Puck z position in global coordinates                                                                                                 | -Inf   | Inf    | object0                               |-                                       |-         | position (m)             |
-        | 6   | Relative puck x position with respect to gripper x position in globla coordinates. Equals to x<sub>gripper</sub> - x<sub>puck</sub>   | -Inf   | Inf    | object0                               |-                                       |-         | position (m)             |
-        | 7   | Relative puck y position with respect to gripper y position in globla coordinates. Equals to y<sub>gripper</sub> - y<sub>puck</sub>   | -Inf   | Inf    | object0                               |-                                       |-         | position (m)             |
-        | 8   | Relative puck z position with respect to gripper z position in globla coordinates. Equals to z<sub>gripper</sub> - z<sub>puck</sub>   | -Inf   | Inf    | object0                               |-                                       |-         | position (m)             |
+        | 6   | Relative puck x position with respect to gripper x position in global coordinates. Equals to x<sub>puck</sub> - x<sub>gripper</sub>   | -Inf   | Inf    | object0                               |-                                       |-         | position (m)             |
+        | 7   | Relative puck y position with respect to gripper y position in global coordinates. Equals to y<sub>puck</sub> - y<sub>gripper</sub>   | -Inf   | Inf    | object0                               |-                                       |-         | position (m)             |
+        | 8   | Relative puck z position with respect to gripper z position in global coordinates. Equals to z<sub>puck</sub> - z<sub>gripper</sub>   | -Inf   | Inf    | object0                               |-                                       |-         | position (m)             |
         | 9   | Joint displacement of the right gripper finger                                                                                        | -Inf   | Inf    |-                                      | robot0:r_gripper_finger_joint          | hinge    | position (m)             |
         | 10  | Joint displacement of the left gripper finger                                                                                         | -Inf   | Inf    |-                                      | robot0:l_gripper_finger_joint          | hinge    | position (m)             |
         | 11  | Global x rotation of the puck in a XYZ Euler frame rotation                                                                           | -Inf   | Inf    | object0                               |-                                       |-         | angle (rad)              |

From 4c5e58961156d4c7873f734374645bf8a376eb73 Mon Sep 17 00:00:00 2001
From: Kallinteris Andreas
 <30759571+Kallinteris-Andreas@users.noreply.github.com>
Date: Sat, 23 Dec 2023 14:41:02 +0200
Subject: [PATCH 04/11] Update to `pyright==1.1.339` (#200)

* update pyright in pre-commit.yaml

* Update .pre-commit-config.yaml

* Update .pre-commit-config.yaml

* Update .pre-commit-config.yaml

* Update .pre-commit-config.yaml

* Update .pre-commit-config.yaml

* Update .pre-commit-config.yaml
---
 .pre-commit-config.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 6ebaea8c..aee1d937 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -39,7 +39,7 @@ repos:
         language: node
         pass_filenames: false
         types: [python]
-        additional_dependencies: ["pyright"]
+        additional_dependencies: ["pyright@1.1.339"]
         args:
           - --project=pyproject.toml
   - repo: https://github.com/pycqa/pydocstyle

From e0f40d0ad4520765f3a1ed8cef37dc16c0cdcfc1 Mon Sep 17 00:00:00 2001
From: Kallinteris Andreas
 <30759571+Kallinteris-Andreas@users.noreply.github.com>
Date: Sat, 23 Dec 2023 15:49:39 +0200
Subject: [PATCH 05/11] remove py3.7 from `installation.md` documentation
 (#199)

---
 docs/content/installation.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/content/installation.md b/docs/content/installation.md
index caea3214..d2079bfd 100644
--- a/docs/content/installation.md
+++ b/docs/content/installation.md
@@ -11,4 +11,4 @@ These environments also require the MuJoCo engine from Deepmind to be installed.
 
 Note that the latest environment versions use the latest mujoco python bindings maintained by the MuJoCo team. If you wish to use the old versions of the environments that depend on [mujoco-py](https://github.com/openai/mujoco-py), please install this library with `pip install gymnasium-robotics[mujoco-py]`
 
-We support and test for Python 3.7, 3.8, 3.9, 3.10 and 3.11 on Linux and macOS. We will accept PRs related to Windows, but do not officially support it.
\ No newline at end of file
+We support and test for Python 3.8, 3.9, 3.10 and 3.11 on Linux and macOS. We will accept PRs related to Windows, but do not officially support it.

From ae9fe752fe1d8014964f5798702ddc24e2a1180d Mon Sep 17 00:00:00 2001
From: Kallinteris Andreas
 <30759571+Kallinteris-Andreas@users.noreply.github.com>
Date: Sun, 24 Dec 2023 11:28:51 +0200
Subject: [PATCH 06/11] Update PULL_REQUEST_TEMPLATE.md (#198)

---
 .github/PULL_REQUEST_TEMPLATE.md | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md
index 996c690e..d6b72caf 100644
--- a/.github/PULL_REQUEST_TEMPLATE.md
+++ b/.github/PULL_REQUEST_TEMPLATE.md
@@ -8,12 +8,14 @@ Fixes # (issue)
 
 Please delete options that are not relevant.
 
+- [ ] Documentation only change (no code changed)
 - [ ] Bug fix (non-breaking change which fixes an issue)
 - [ ] New feature (non-breaking change which adds functionality)
 - [ ] Breaking change (fix or feature that would cause existing functionality to not work as expected)
 - [ ] This change requires a documentation update
 
 ### Screenshots
+
 Please attach before and after screenshots of the change if applicable.
 
 <!--

From 3e42c3061aa23ce7f29ae8ec150ca6224e13ef09 Mon Sep 17 00:00:00 2001
From: Kallinteris Andreas
 <30759571+Kallinteris-Andreas@users.noreply.github.com>
Date: Sun, 24 Dec 2023 11:34:20 +0200
Subject: [PATCH 07/11] Bump  gymnasium-robotics version to 1.2.4 (#201)

* Update __init__.py

* Update README.md
---
 README.md                      | 2 +-
 gymnasium_robotics/__init__.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/README.md b/README.md
index 15c97fba..e057ac44 100644
--- a/README.md
+++ b/README.md
@@ -83,7 +83,7 @@ If you use this in your research, please cite:
   author = {Rodrigo de Lazcano and Kallinteris Andreas and Jun Jet Tai and Seungjae Ryan Lee and Jordan Terry},
   title = {Gymnasium Robotics},
   url = {http://github.com/Farama-Foundation/Gymnasium-Robotics},
-  version = {1.2.3},
+  version = {1.2.4},
   year = {2023},
 }
 ```
diff --git a/gymnasium_robotics/__init__.py b/gymnasium_robotics/__init__.py
index 18bd806d..326547d4 100644
--- a/gymnasium_robotics/__init__.py
+++ b/gymnasium_robotics/__init__.py
@@ -1237,7 +1237,7 @@ def _merge(a, b):
     )
 
 
-__version__ = "1.2.3"
+__version__ = "1.2.4"
 
 
 try:

From 43deebe6a3b8532f33abaadc7326f14aec81ba6f Mon Sep 17 00:00:00 2001
From: Kallinteris Andreas
 <30759571+Kallinteris-Andreas@users.noreply.github.com>
Date: Sun, 31 Dec 2023 16:02:44 +0200
Subject: [PATCH 08/11] unpin pyright (#202)

* Update .pre-commit-config.yaml

* add `pyright.reportUnboundVariable="warning"` option
---
 .pre-commit-config.yaml | 2 +-
 pyproject.toml          | 3 ++-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index aee1d937..6ebaea8c 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -39,7 +39,7 @@ repos:
         language: node
         pass_filenames: false
         types: [python]
-        additional_dependencies: ["pyright@1.1.339"]
+        additional_dependencies: ["pyright"]
         args:
           - --project=pyproject.toml
   - repo: https://github.com/pycqa/pydocstyle
diff --git a/pyproject.toml b/pyproject.toml
index ecaf5295..3e482142 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -113,6 +113,7 @@ enableTypeIgnoreComments = true
 
 # This is required as the CI pre-commit does not download the module (i.e. numpy)
 #   Therefore, we have to ignore missing imports
-
 reportMissingImports = "none"
+reportUnboundVariable = "warning"
+
 reportGeneralTypeIssues = "none"  # -> commented out raises 489 errors

From 3fd43b0787171cfd683842688928ff49904aca20 Mon Sep 17 00:00:00 2001
From: Kallinteris Andreas
 <30759571+Kallinteris-Andreas@users.noreply.github.com>
Date: Mon, 15 Jan 2024 05:10:57 +0200
Subject: [PATCH 09/11] Update README.md (#204)

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index e057ac44..403ec1dc 100644
--- a/README.md
+++ b/README.md
@@ -36,7 +36,7 @@ The different tasks involve hammering a nail, opening a door, twirling a pen, or
 
 ## Multi-goal API
 
-The robotic environments use an extension of the core Gymansium API by inheriting from [GoalEnv](https://robotics.farama.org/envs/#) class. The new API forces the environments to have a dictionary observation space that contains 3 keys:
+The robotic environments use an extension of the core Gymansium API by inheriting from [GoalEnv](https://robotics.farama.org/content/multi-goal_api/) class. The new API forces the environments to have a dictionary observation space that contains 3 keys:
 
 * `observation` - The actual observation of the environment
 * `desired_goal` - The goal that the agent has to achieved

From 50c801922273331c50956909f5bf3377a012233a Mon Sep 17 00:00:00 2001
From: Kallinteris Andreas
 <30759571+Kallinteris-Andreas@users.noreply.github.com>
Date: Mon, 15 Jan 2024 05:11:59 +0200
Subject: [PATCH 10/11] [adroit ]Minor Cleanup: assignment of `goal_achieved`
 (#205)

* Update adroit_door.py

* Update adroit_hammer.py

* Update adroit_pen.py

* Update adroit_relocate.py

* Update adroit_pen.py
---
 gymnasium_robotics/envs/adroit_hand/adroit_door.py     | 2 +-
 gymnasium_robotics/envs/adroit_hand/adroit_hammer.py   | 2 +-
 gymnasium_robotics/envs/adroit_hand/adroit_pen.py      | 4 +---
 gymnasium_robotics/envs/adroit_hand/adroit_relocate.py | 2 +-
 4 files changed, 4 insertions(+), 6 deletions(-)

diff --git a/gymnasium_robotics/envs/adroit_hand/adroit_door.py b/gymnasium_robotics/envs/adroit_hand/adroit_door.py
index 3ea6b1b6..323222ab 100644
--- a/gymnasium_robotics/envs/adroit_hand/adroit_door.py
+++ b/gymnasium_robotics/envs/adroit_hand/adroit_door.py
@@ -282,7 +282,7 @@ def step(self, a):
 
         # compute the sparse reward variant first
         goal_distance = self.data.qpos[self.door_hinge_addrs]
-        goal_achieved = True if goal_distance >= 1.35 else False
+        goal_achieved = goal_distance >= 1.35
         reward = 10.0 if goal_achieved else -0.1
 
         # override reward if not sparse reward
diff --git a/gymnasium_robotics/envs/adroit_hand/adroit_hammer.py b/gymnasium_robotics/envs/adroit_hand/adroit_hammer.py
index 74abb5fa..8d4c6c0d 100644
--- a/gymnasium_robotics/envs/adroit_hand/adroit_hammer.py
+++ b/gymnasium_robotics/envs/adroit_hand/adroit_hammer.py
@@ -296,7 +296,7 @@ def step(self, a):
 
         # compute the sparse reward variant first
         goal_distance = np.linalg.norm(nail_pos - goal_pos)
-        goal_achieved = True if goal_distance < 0.01 else False
+        goal_achieved = goal_distance < 0.01
         reward = 10.0 if goal_achieved else -0.1
 
         # override reward if not sparse reward
diff --git a/gymnasium_robotics/envs/adroit_hand/adroit_pen.py b/gymnasium_robotics/envs/adroit_hand/adroit_pen.py
index baaebec5..5e0f6517 100644
--- a/gymnasium_robotics/envs/adroit_hand/adroit_pen.py
+++ b/gymnasium_robotics/envs/adroit_hand/adroit_pen.py
@@ -301,9 +301,7 @@ def step(self, a):
         # compute the sparse reward variant first
         goal_distance = np.linalg.norm(obj_pos - desired_loc)
         orien_similarity = np.dot(obj_orien, desired_orien)
-        goal_achieved = (
-            True if (goal_distance < 0.075 and orien_similarity > 0.95) else False
-        )
+        goal_achieved = goal_distance < 0.075 and orien_similarity > 0.95
         reward = 10.0 if goal_achieved else -0.1
 
         # goal_failed = obj_pos[2] < 0.075
diff --git a/gymnasium_robotics/envs/adroit_hand/adroit_relocate.py b/gymnasium_robotics/envs/adroit_hand/adroit_relocate.py
index 08fecf48..8cb41138 100644
--- a/gymnasium_robotics/envs/adroit_hand/adroit_relocate.py
+++ b/gymnasium_robotics/envs/adroit_hand/adroit_relocate.py
@@ -286,7 +286,7 @@ def step(self, a):
 
         # compute the sparse reward variant first
         goal_distance = float(np.linalg.norm(obj_pos - target_pos))
-        goal_achieved = True if goal_distance < 0.1 else False
+        goal_achieved = goal_distance < 0.1
         reward = 10.0 if goal_achieved else -0.1
 
         # override reward if not sparse reward

From acad2a0ee04d03c37f5691bf9cf16c7ef71abc1c Mon Sep 17 00:00:00 2001
From: Kallinteris Andreas
 <30759571+Kallinteris-Andreas@users.noreply.github.com>
Date: Sat, 10 Feb 2024 16:51:33 +0200
Subject: [PATCH 11/11] pin `pyright==1.1.347` (match gymnasium) (#209)

---
 .pre-commit-config.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 6ebaea8c..38f51360 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -39,7 +39,7 @@ repos:
         language: node
         pass_filenames: false
         types: [python]
-        additional_dependencies: ["pyright"]
+        additional_dependencies: ["pyright@1.1.347"]
         args:
           - --project=pyproject.toml
   - repo: https://github.com/pycqa/pydocstyle