Update Pusher-v5 model to one that is compatible with mujoco>=3 (#1019

)
Farama-Foundation · Apr 17, 2024 · b6d7f51 · b6d7f51
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diff --git a/gymnasium/envs/mujoco/assets/pusher_v5.xml b/gymnasium/envs/mujoco/assets/pusher_v5.xml
@@ -0,0 +1,97 @@
+<!--
+Pusher model for `Pusher-v5`, based on openai/gym/Pusher
+modified by @Kallinteris-Andreas
+	- reduced body.object cylinder density 0.00001 -> 0.01
+	- disabled body.object sphere
+-->
+<mujoco model="arm3d">
+  <compiler inertiafromgeom="true" angle="radian" coordinate="local"/>
+  <option timestep="0.01" gravity="0 0 0" iterations="20" integrator="Euler" />
+
+  <default>
+    <joint armature='0.04' damping="1" limited="true"/>
+    <geom friction=".8 .1 .1" density="300" margin="0.002" condim="1" contype="0" conaffinity="0"/>
+  </default>
+
+  <worldbody>
+    <light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
+    <geom name="table" type="plane" pos="0 0.5 -0.325" size="1 1 0.1" contype="1" conaffinity="1"/>
+
+    <body name="r_shoulder_pan_link" pos="0 -0.6 0">
+      <geom name="e1" type="sphere" rgba="0.6 0.6 0.6 1" pos="-0.06 0.05 0.2" size="0.05" />
+      <geom name="e2" type="sphere" rgba="0.6 0.6 0.6 1" pos=" 0.06 0.05 0.2" size="0.05" />
+      <geom name="e1p" type="sphere" rgba="0.1 0.1 0.1 1" pos="-0.06 0.09 0.2" size="0.03" />
+      <geom name="e2p" type="sphere" rgba="0.1 0.1 0.1 1" pos=" 0.06 0.09 0.2" size="0.03" />
+      <geom name="sp" type="capsule" fromto="0 0 -0.4 0 0 0.2" size="0.1" />
+      <joint name="r_shoulder_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-2.2854 1.714602" damping="1.0" />
+
+      <body name="r_shoulder_lift_link" pos="0.1 0 0">
+        <geom name="sl" type="capsule" fromto="0 -0.1 0 0 0.1 0" size="0.1" />
+        <joint name="r_shoulder_lift_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.5236 1.3963" damping="1.0" />
+
+        <body name="r_upper_arm_roll_link" pos="0 0 0">
+          <geom name="uar" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" />
+          <joint name="r_upper_arm_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="-1.5 1.7" damping="0.1" />
+
+          <body name="r_upper_arm_link" pos="0 0 0">
+            <geom name="ua" type="capsule" fromto="0 0 0 0.4 0 0" size="0.06" />
+
+            <body name="r_elbow_flex_link" pos="0.4 0 0">
+              <geom name="ef" type="capsule" fromto="0 -0.02 0 0.0 0.02 0" size="0.06" />
+              <joint name="r_elbow_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-2.3213 0" damping="0.1" />
+
+              <body name="r_forearm_roll_link" pos="0 0 0">
+                <geom name="fr" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" />
+                <joint name="r_forearm_roll_joint" type="hinge" limited="true" pos="0 0 0" axis="1 0 0" damping=".1" range="-1.5 1.5"/>
+
+                <body name="r_forearm_link" pos="0 0 0">
+                  <geom name="fa" type="capsule" fromto="0 0 0 0.291 0 0" size="0.05" />
+
+                  <body name="r_wrist_flex_link" pos="0.321 0 0">
+                    <geom name="wf" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.01" />
+                    <joint name="r_wrist_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-1.094 0" damping=".1" />
+
+                    <body name="r_wrist_roll_link" pos="0 0 0">
+                      <joint name="r_wrist_roll_joint" type="hinge" pos="0 0 0" limited="true" axis="1 0 0" damping="0.1" range="-1.5 1.5"/>
+                      <body name="tips_arm" pos="0 0 0">
+                        <geom name="tip_arml" type="sphere" pos="0.1 -0.1 0." size="0.01" />
+                        <geom name="tip_armr" type="sphere" pos="0.1 0.1 0." size="0.01" />
+                      </body>
+                      <geom type="capsule" fromto="0 -0.1 0. 0.0 +0.1 0" size="0.02" contype="1" conaffinity="1" />
+                      <geom type="capsule" fromto="0 -0.1 0. 0.1 -0.1 0" size="0.02" contype="1" conaffinity="1" />
+                      <geom type="capsule" fromto="0 +0.1 0. 0.1 +0.1 0." size="0.02" contype="1" conaffinity="1" />
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+
+    <!--<body name="object" pos="0.55 -0.3 -0.275" >-->
+    <body name="object" pos="0.45 -0.05 -0.275" >
+      <!-- <geom rgba="1 1 1 0" type="sphere" size="0.05 0.05 0.05" density="0.001" conaffinity="0"/> -->
+      <geom rgba="1 1 1 1" type="cylinder" size="0.05 0.05 0.05" density="0.01" contype="1" conaffinity="0"/>
+      <joint name="obj_slidey" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0.5"/>
+      <joint name="obj_slidex" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0.5"/>
+    </body>
+
+    <body name="goal" pos="0.45 -0.05 -0.3230">
+      <geom rgba="1 0 0 1" type="cylinder" size="0.08 0.001 0.1" density='0.00001' contype="0" conaffinity="0"/>
+      <joint name="goal_slidey" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0.5"/>
+      <joint name="goal_slidex" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0.5"/>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <motor joint="r_shoulder_pan_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
+    <motor joint="r_shoulder_lift_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
+    <motor joint="r_upper_arm_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
+    <motor joint="r_elbow_flex_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
+    <motor joint="r_forearm_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
+    <motor joint="r_wrist_flex_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
+    <motor joint="r_wrist_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true"/>
+  </actuator>
+</mujoco>
diff --git a/gymnasium/envs/mujoco/pusher_v5.py b/gymnasium/envs/mujoco/pusher_v5.py
@@ -133,16 +133,17 @@ class PusherEnv(MujocoEnv, utils.EzPickle):
     env = gym.make('Pusher-v5', xml_file=...)
     ```
 
-    | Parameter               | Type       | Default      |Description                                               |
-    |-------------------------|------------|--------------|----------------------------------------------------------|
-    | `xml_file`              | **str**    |`"pusher.xml"`| Path to a MuJoCo model                                   |
-    | `reward_near_weight`    | **float**  | `0.5`        | Weight for _reward_near_ term (see `Rewards` section)    |
-    | `reward_dist_weight`    | **float**  | `1`          | Weight for _reward_dist_ term (see `Rewards` section)    |
-    | `reward_control_weight` | **float**  | `0.1`        | Weight for _reward_control_ term (see `Rewards` section) |
+    | Parameter               | Type       | Default         |Description                                               |
+    |-------------------------|------------|-----------------|----------------------------------------------------------|
+    | `xml_file`              | **str**    |`"pusher_v5.xml"`| Path to a MuJoCo model                                   |
+    | `reward_near_weight`    | **float**  | `0.5`           | Weight for _reward_near_ term (see `Rewards` section)    |
+    | `reward_dist_weight`    | **float**  | `1`             | Weight for _reward_dist_ term (see `Rewards` section)    |
+    | `reward_control_weight` | **float**  | `0.1`           | Weight for _reward_control_ term (see `Rewards` section) |
 
     ## Version History
     * v5:
         - Minimum `mujoco` version is now 2.3.3.
+        - Fixed bug: increased the density of the object to be higher than air (related [GitHub issue](https://github.com/Farama-Foundation/Gymnasium/issues/950)).
         - 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.
@@ -151,6 +152,7 @@ class PusherEnv(MujocoEnv, utils.EzPickle):
         - Fixed `info["reward_ctrl"]` not being multiplied by the reward weight.
         - Added `info["reward_near"]` which is equal to the reward term `reward_near`.
     * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3.
+        - Warning: This version of the environment is not compatible with `mujoco>=3.0.0` (related [GitHub issue](https://github.com/Farama-Foundation/Gymnasium/issues/950)).
     * v3: This environment does not have a v3 release.
     * v2: All continuous control environments now use mujoco-py >= 1.50.
     * v1: max_time_steps raised to 1000 for robot based tasks (not including pusher, which has a max_time_steps of 100). Added reward_threshold to environments.
@@ -167,7 +169,7 @@ class PusherEnv(MujocoEnv, utils.EzPickle):
 
     def __init__(
         self,
-        xml_file: str = "pusher.xml",
+        xml_file: str = "pusher_v5.xml",
         frame_skip: int = 5,
         default_camera_config: Dict[str, Union[float, int]] = DEFAULT_CAMERA_CONFIG,
         reward_near_weight: float = 0.5,

diff --git a/tests/envs/mujoco/test_mujoco_v5.py b/tests/envs/mujoco/test_mujoco_v5.py
@@ -600,7 +600,10 @@ def test_model_object_count(version: str):
         else:
             assert env.model.nbvh == 18
         assert env.model.njnt == 11
-        assert env.model.ngeom == 21
+        if version == "v4":
+            assert env.model.ngeom == 21
+        else:
+            assert env.model.ngeom == 20
         assert env.model.ntendon == 0
 
     env = gym.make(f"Reacher-{version}").unwrapped