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Update hopper & walker2d with models that do not use local coordinate (…
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…#589)
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@Kallinteris-Andreas
Kallinteris-Andreas authored Jul 9, 2023
1 parent 8d63f30 commit 061e802
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Showing 3 changed files with 52 additions and 41 deletions.
35 changes: 20 additions & 15 deletions gymnasium/envs/mujoco/assets/hopper.xml
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Original file line number Diff line number Diff line change
@@ -1,5 +1,10 @@
<!--
Hopper model for `Hopper-v5`, based on openai/gym/Walker2d
modified by @saran_t
- To not require `coordinate="global"`
-->
<mujoco model="hopper">
<compiler angle="degree" coordinate="global" inertiafromgeom="true"/>
<compiler angle="degree" inertiafromgeom="true"/>
<default>
<joint armature="1" damping="1" limited="true"/>
<geom conaffinity="1" condim="1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1" solimp=".8 .8 .01" solref=".02 1"/>
Expand All @@ -13,20 +18,20 @@
<light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
<geom conaffinity="1" condim="3" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="20 20 .125" type="plane" material="MatPlane"/>
<body name="torso" pos="0 0 1.25">
<camera name="track" mode="trackcom" pos="0 -3 1" xyaxes="1 0 0 0 0 1"/>
<joint armature="0" axis="1 0 0" damping="0" limited="false" name="rootx" pos="0 0 0" stiffness="0" type="slide"/>
<joint armature="0" axis="0 0 1" damping="0" limited="false" name="rootz" pos="0 0 0" ref="1.25" stiffness="0" type="slide"/>
<joint armature="0" axis="0 1 0" damping="0" limited="false" name="rooty" pos="0 0 1.25" stiffness="0" type="hinge"/>
<geom friction="0.9" fromto="0 0 1.45 0 0 1.05" name="torso_geom" size="0.05" type="capsule"/>
<body name="thigh" pos="0 0 1.05">
<joint axis="0 -1 0" name="thigh_joint" pos="0 0 1.05" range="-150 0" type="hinge"/>
<geom friction="0.9" fromto="0 0 1.05 0 0 0.6" name="thigh_geom" size="0.05" type="capsule"/>
<body name="leg" pos="0 0 0.35">
<joint axis="0 -1 0" name="leg_joint" pos="0 0 0.6" range="-150 0" type="hinge"/>
<geom friction="0.9" fromto="0 0 0.6 0 0 0.1" name="leg_geom" size="0.04" type="capsule"/>
<body name="foot" pos="0.13 0 0">
<joint axis="0 -1 0" name="foot_joint" pos="0 0 0.1" range="-45 45" type="hinge"/>
<geom friction="2.0" fromto="-0.13 0 0.1 0.26 0 0.1" name="foot_geom" size="0.06" type="capsule"/>
<camera name="track" mode="trackcom" pos="0 -3 -0.25" xyaxes="1 0 0 0 0 1"/>
<joint armature="0" axis="1 0 0" damping="0" limited="false" name="rootx" pos="0 0 -1.25" stiffness="0" type="slide"/>
<joint armature="0" axis="0 0 1" damping="0" limited="false" name="rootz" pos="0 0 -1.25" ref="1.25" stiffness="0" type="slide"/>
<joint armature="0" axis="0 1 0" damping="0" limited="false" name="rooty" pos="0 0 0" stiffness="0" type="hinge"/>
<geom friction="0.9" name="torso_geom" size="0.05 0.19999999999999996" type="capsule"/>
<body name="thigh" pos="0 0 -0.19999999999999996">
<joint axis="0 -1 0" name="thigh_joint" pos="0 0 0" range="-150 0" type="hinge"/>
<geom friction="0.9" pos="0 0 -0.22500000000000009" name="thigh_geom" size="0.05 0.22500000000000003" type="capsule"/>
<body name="leg" pos="0 0 -0.70000000000000007">
<joint axis="0 -1 0" name="leg_joint" pos="0 0 0.25" range="-150 0" type="hinge"/>
<geom friction="0.9" name="leg_geom" size="0.04 0.25" type="capsule"/>
<body name="foot" pos="0.13 0 -0.35">
<joint axis="0 -1 0" name="foot_joint" pos="-0.13 0 0.1" range="-45 45" type="hinge"/>
<geom friction="2.0" pos="-0.065 0 0.1" quat="0.70710678118654757 0 -0.70710678118654746 0" name="foot_geom" size="0.06 0.195" type="capsule"/>
</body>
</body>
</body>
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54 changes: 30 additions & 24 deletions gymnasium/envs/mujoco/assets/walker2d.xml
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Original file line number Diff line number Diff line change
@@ -1,5 +1,11 @@
<!--
Walker2D model for `Walker2d-v5`, based on openai/gym/Walker2d
modified by @kallinteris-Andreas
- To not require `coordinate="global"`
- keep feet friction to 0.9/1.9
-->
<mujoco model="walker2d">
<compiler angle="degree" coordinate="global" inertiafromgeom="true"/>
<compiler angle="degree" inertiafromgeom="true"/>
<default>
<joint armature="0.01" damping=".1" limited="true"/>
<geom conaffinity="0" condim="3" contype="1" density="1000" friction=".7 .1 .1" rgba="0.8 0.6 .4 1"/>
Expand All @@ -9,33 +15,33 @@
<light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
<geom conaffinity="1" condim="3" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane" material="MatPlane"/>
<body name="torso" pos="0 0 1.25">
<camera name="track" mode="trackcom" pos="0 -3 1" xyaxes="1 0 0 0 0 1"/>
<joint armature="0" axis="1 0 0" damping="0" limited="false" name="rootx" pos="0 0 0" stiffness="0" type="slide"/>
<joint armature="0" axis="0 0 1" damping="0" limited="false" name="rootz" pos="0 0 0" ref="1.25" stiffness="0" type="slide"/>
<joint armature="0" axis="0 1 0" damping="0" limited="false" name="rooty" pos="0 0 1.25" stiffness="0" type="hinge"/>
<geom friction="0.9" fromto="0 0 1.45 0 0 1.05" name="torso_geom" size="0.05" type="capsule"/>
<body name="thigh" pos="0 0 1.05">
<joint axis="0 -1 0" name="thigh_joint" pos="0 0 1.05" range="-150 0" type="hinge"/>
<geom friction="0.9" fromto="0 0 1.05 0 0 0.6" name="thigh_geom" size="0.05" type="capsule"/>
<body name="leg" pos="0 0 0.35">
<joint axis="0 -1 0" name="leg_joint" pos="0 0 0.6" range="-150 0" type="hinge"/>
<geom friction="0.9" fromto="0 0 0.6 0 0 0.1" name="leg_geom" size="0.04" type="capsule"/>
<body name="foot" pos="0.2 0 0">
<joint axis="0 -1 0" name="foot_joint" pos="0 0 0.1" range="-45 45" type="hinge"/>
<geom friction="0.9" fromto="-0.0 0 0.1 0.2 0 0.1" name="foot_geom" size="0.06" type="capsule"/>
<camera name="track" mode="trackcom" pos="0 -3 -0.25" xyaxes="1 0 0 0 0 1"/>
<joint armature="0" axis="1 0 0" damping="0" limited="false" name="rootx" pos="0 0 -1.25" stiffness="0" type="slide"/>
<joint armature="0" axis="0 0 1" damping="0" limited="false" name="rootz" pos="0 0 -1.25" ref="1.25" stiffness="0" type="slide"/>
<joint armature="0" axis="0 1 0" damping="0" limited="false" name="rooty" pos="0 0 0" stiffness="0" type="hinge"/>
<geom friction="0.9" name="torso_geom" size="0.050000000000000003 0.19999999999999996" type="capsule"/>
<body name="thigh" pos="0 0 -0.19999999999999996">
<joint axis="0 -1 0" name="thigh_joint" pos="0 0 0" range="-150 0" type="hinge"/>
<geom friction="0.9" pos="0 0 -0.22500000000000009" name="thigh_geom" size="0.050000000000000003 0.22500000000000003" type="capsule"/>
<body name="leg" pos="0 0 -0.70000000000000007">
<joint axis="0 -1 0" name="leg_joint" pos="0 0 0.25" range="-150 0" type="hinge"/>
<geom friction="0.9" name="leg_geom" size="0.040000000000000001 0.25" type="capsule"/>
<body name="foot" pos="0.20000000000000001 0 -0.34999999999999998">
<joint axis="0 -1 0" name="foot_joint" pos="-0.20000000000000001 0 0.10000000000000001" range="-45 45" type="hinge"/>
<geom friction="0.9" pos="-0.10000000000000001 0 0.10000000000000001" quat="0.70710678118654757 0 -0.70710678118654746 0" name="foot_geom" size="0.059999999999999998 0.10000000000000001" type="capsule"/>
</body>
</body>
</body>
<!-- copied and then replace thigh->thigh_left, leg->leg_left, foot->foot_right -->
<body name="thigh_left" pos="0 0 1.05">
<joint axis="0 -1 0" name="thigh_left_joint" pos="0 0 1.05" range="-150 0" type="hinge"/>
<geom friction="0.9" fromto="0 0 1.05 0 0 0.6" name="thigh_left_geom" rgba=".7 .3 .6 1" size="0.05" type="capsule"/>
<body name="leg_left" pos="0 0 0.35">
<joint axis="0 -1 0" name="leg_left_joint" pos="0 0 0.6" range="-150 0" type="hinge"/>
<geom friction="0.9" fromto="0 0 0.6 0 0 0.1" name="leg_left_geom" rgba=".7 .3 .6 1" size="0.04" type="capsule"/>
<body name="foot_left" pos="0.2 0 0">
<joint axis="0 -1 0" name="foot_left_joint" pos="0 0 0.1" range="-45 45" type="hinge"/>
<geom friction="1.9" fromto="-0.0 0 0.1 0.2 0 0.1" name="foot_left_geom" rgba=".7 .3 .6 1" size="0.06" type="capsule"/>
<body name="thigh_left" pos="0 0 -0.19999999999999996">
<joint axis="0 -1 0" name="thigh_left_joint" pos="0 0 0" range="-150 0" type="hinge"/>
<geom friction="0.9" name="thigh_left_geom" rgba=".7 .3 .6 1" size="0.050000000000000003 0.22500000000000003" pos="0 0 -0.22500000000000009" type="capsule"/>
<body name="leg_left" pos="0 0 -0.70000000000000007">
<joint axis="0 -1 0" name="leg_left_joint" pos="0 0 0.25" range="-150 0" type="hinge"/>
<geom friction="0.9" name="leg_left_geom" rgba=".7 .3 .6 1" size="0.040000000000000001 0.25" type="capsule"/>
<body name="foot_left" pos="0.20000000000000001 0 -0.34999999999999998">
<joint axis="0 -1 0" name="foot_left_joint" pos="-0.20000000000000001 0 0.10000000000000001" range="-45 45" type="hinge"/>
<geom friction="1.9" name="foot_left_geom" rgba=".7 .3 .6 1" size="0.059999999999999998 0.10000000000000001" pos="-0.10000000000000001 0 0.10000000000000001" type="capsule" quat="0.70710678118654757 0 -0.70710678118654746 0"/>
</body>
</body>
</body>
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4 changes: 2 additions & 2 deletions pyproject.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -41,7 +41,7 @@ classic-control = ["pygame >=2.1.3"]
classic_control = ["pygame >=2.1.3"] # kept for backward compatibility
mujoco-py = ["mujoco-py >=2.1,<2.2"]
mujoco_py = ["mujoco-py >=2.1,<2.2"] # kept for backward compatibility
mujoco = ["mujoco <=2.3.3", "imageio >=2.14.1"]
mujoco = ["mujoco >=2.3.3", "imageio >=2.14.1"]
toy-text = ["pygame >=2.1.3"]
toy_text = ["pygame >=2.1.3"] # kept for backward compatibility
jax = ["jax >=0.4.0", "jaxlib >=0.4.0"]
Expand All @@ -66,7 +66,7 @@ all = [
# mujoco-py
"mujoco-py >=2.1,<2.2",
# mujoco
"mujoco <=2.3.3",
"mujoco >=2.3.3",
"imageio >=2.14.1",
# toy-text
"pygame >=2.1.3",
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