From b1f7fb40ab5febe4a49a149713c30a9b4e146306 Mon Sep 17 00:00:00 2001
From: Kallinteris Andreas
 <30759571+Kallinteris-Andreas@users.noreply.github.com>
Date: Sat, 9 Dec 2023 16:20:35 +0200
Subject: [PATCH] Update pusher_v5.py

---
 gymnasium/envs/mujoco/pusher_v5.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/gymnasium/envs/mujoco/pusher_v5.py b/gymnasium/envs/mujoco/pusher_v5.py
index 490c4b016..62ef22a46 100644
--- a/gymnasium/envs/mujoco/pusher_v5.py
+++ b/gymnasium/envs/mujoco/pusher_v5.py
@@ -157,6 +157,7 @@ class PusherEnv(MujocoEnv, utils.EzPickle):
         - Added `default_camera_config` argument, a dictionary for setting the `mj_camera` properties, mainly useful for custom environments.
         - Added `frame_skip` argument, used to configure the `dt` (duration of `step()`), default varies by environment check environment documentation pages.
         - Added `xml_file` argument.
+        - Fixed bug: `reward_distance` & `reward_near` was based on the state before the physics step, now it is based on the state after the physics step (related [Github issue](https://github.com/Farama-Foundation/Gymnasium/issues/821)).
         - Added `reward_near_weight`, `reward_dist_weight`, `reward_control_weight` arguments, to configure the reward function (defaults are effectively the same as in `v4`).
         - Fixed `info["reward_ctrl"]` being not being multiplied by the reward weight.
         - Added `info["reward_near"]` which is equal to the reward term `reward_near`.