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Converted mujoco env 'hopper_jump' to new coordinate convention

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New versions of mujoco no longer allow global coordinates.
We therefore convert them to local ones.
The original files are kept as reference.
This commit is contained in:
Dominik Moritz Roth 2023-06-10 13:33:51 +02:00
parent 1fddeb838b
commit 38cb5e1750
4 changed files with 178 additions and 77 deletions
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52
fancy_gym/envs/mujoco/hopper_jump/assets/hopper_jump.before_convert.xml Normal file
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@ -0,0 +1,52 @@
<mujoco model="hopper">
<compiler angle="degree" coordinate="global" 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"/>
<motor ctrllimited="true" ctrlrange="-.4 .4"/>
</default>
<option integrator="RK4" timestep="0.002"/>
<visual>
<map znear="0.02"/>
</visual>
<worldbody>
<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="0.13/2 0 0.1">
<site name="foot_site" pos="0 0 0.04" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"/>
<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"/>
</body>
</body>
</body>
</body>
<body name="goal_site_body" pos = "0 0 0">
<site name="goal_site" pos="0 0 0.0" size="0.02 0.02 0.02" rgba="0 1 0 1" type="sphere"/>
</body>
</worldbody>
<actuator>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="thigh_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="leg_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="foot_joint"/>
</actuator>
<asset>
<texture type="skybox" builtin="gradient" rgb1=".4 .5 .6" rgb2="0 0 0"
width="100" height="100"/>
<texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
<texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
<material name="geom" texture="texgeom" texuniform="true"/>
</asset>
</mujoco>

77
fancy_gym/envs/mujoco/hopper_jump/assets/hopper_jump.xml
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@ -1,52 +1,51 @@
<mujoco model="hopper"> <mujoco model="hopper">
<compiler angle="degree" coordinate="global" inertiafromgeom="true"/> <compiler angle="radian" autolimits="true"/>
<default> <option integrator="RK4"/>
<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"/>
<motor ctrllimited="true" ctrlrange="-.4 .4"/>
</default>
<option integrator="RK4" timestep="0.002"/>
<visual> <visual>
<map znear="0.02"/> <map znear="0.02"/>
</visual> </visual>
<default class="main">
<joint limited="true" armature="1" damping="1"/>
<geom condim="1" solimp="0.8 0.8 0.01 0.5 2" margin="0.001" material="geom" rgba="0.8 0.6 0.4 1"/>
<general ctrllimited="true" ctrlrange="-0.4 0.4"/>
</default>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.4 0.5 0.6" rgb2="0 0 0" width="100" height="600"/>
<texture type="cube" name="texgeom" builtin="flat" mark="cross" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" width="127" height="762"/>
<texture type="2d" name="texplane" builtin="checker" rgb1="0 0 0" rgb2="0.8 0.8 0.8" width="100" height="100"/>
<material name="MatPlane" texture="texplane" texrepeat="60 60" specular="1" shininess="1" reflectance="0.5"/>
<material name="geom" texture="texgeom" texuniform="true"/>
</asset>
<worldbody> <worldbody>
<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 name="floor" size="20 20 0.125" type="plane" condim="3" material="MatPlane" rgba="0.8 0.9 0.8 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"/> <light pos="0 0 1.3" dir="0 0 -1" directional="true" cutoff="100" exponent="1" diffuse="1 1 1" specular="0.1 0.1 0.1"/>
<body name="torso" pos="0 0 1.25"> <body name="torso" pos="0 0 1.25" gravcomp="0">
<camera name="track" mode="trackcom" pos="0 -3 1" xyaxes="1 0 0 0 0 1"/> <joint name="rootx" pos="0 0 -1.25" axis="1 0 0" limited="false" type="slide" armature="0" damping="0"/>
<joint armature="0" axis="1 0 0" damping="0" limited="false" name="rootx" pos="0 0 0" stiffness="0" type="slide"/> <joint name="rootz" pos="0 0 -1.25" axis="0 0 1" limited="false" type="slide" ref="1.25" armature="0" damping="0"/>
<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 name="rooty" pos="0 0 0" axis="0 1 0" limited="false" armature="0" damping="0"/>
<joint armature="0" axis="0 1 0" damping="0" limited="false" name="rooty" pos="0 0 1.25" stiffness="0" type="hinge"/> <geom name="torso_geom" size="0.05 0.2" type="capsule" friction="0.9 0.005 0.0001"/>
<geom friction="0.9" fromto="0 0 1.45 0 0 1.05" name="torso_geom" size="0.05" type="capsule"/> <camera name="track" pos="0 -3 -0.25" quat="0.707107 0.707107 0 0" mode="trackcom"/>
<body name="thigh" pos="0 0 1.05"> <body name="thigh" pos="0 0 -0.2" gravcomp="0">
<joint axis="0 -1 0" name="thigh_joint" pos="0 0 1.05" range="-150 0" type="hinge"/> <joint name="thigh_joint" pos="0 0 0" axis="0 -1 0" range="-2.61799 0"/>
<geom friction="0.9" fromto="0 0 1.05 0 0 0.6" name="thigh_geom" size="0.05" type="capsule"/> <geom name="thigh_geom" size="0.05 0.225" pos="0 0 -0.225" type="capsule" friction="0.9 0.005 0.0001"/>
<body name="leg" pos="0 0 0.35"> <body name="leg" pos="0 0 -0.7" gravcomp="0">
<joint axis="0 -1 0" name="leg_joint" pos="0 0 0.6" range="-150 0" type="hinge"/> <joint name="leg_joint" pos="0 0 0.25" axis="0 -1 0" range="-2.61799 0"/>
<geom friction="0.9" fromto="0 0 0.6 0 0 0.1" name="leg_geom" size="0.04" type="capsule"/> <geom name="leg_geom" size="0.04 0.25" type="capsule" friction="0.9 0.005 0.0001"/>
<body name="foot" pos="0.13/2 0 0.1"> <body name="foot" pos="0.065 0 -0.25" gravcomp="0">
<site name="foot_site" pos="0 0 0.04" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"/> <joint name="foot_joint" pos="-0.065 0 0" axis="0 -1 0" range="-0.785398 0.785398"/>
<joint axis="0 -1 0" name="foot_joint" pos="0 0 0.1" range="-45 45" type="hinge"/> <geom name="foot_geom" size="0.06 0.195" quat="0.707107 0 -0.707107 0" type="capsule" friction="2 0.005 0.0001"/>
<geom friction="2.0" fromto="-0.13 0 0.1 0.26 0 0.1" name="foot_geom" size="0.06" type="capsule"/> <site name="foot_site" pos="-0.065 0 -0.06" size="0.02" rgba="1 0 0 1"/>
</body> </body>
</body> </body>
</body> </body>
</body> </body>
<body name="goal_site_body" pos = "0 0 0"> <body name="goal_site_body" pos="0 0 0" gravcomp="0">
<site name="goal_site" pos="0 0 0.0" size="0.02 0.02 0.02" rgba="0 1 0 1" type="sphere"/> <site name="goal_site" pos="0 0 0" size="0.02" rgba="0 1 0 1"/>
</body> </body>
</worldbody> </worldbody>
<actuator> <actuator>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="thigh_joint"/> <general joint="thigh_joint" ctrlrange="-1 1" gear="200 0 0 0 0 0" actdim="0"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="leg_joint"/> <general joint="leg_joint" ctrlrange="-1 1" gear="200 0 0 0 0 0" actdim="0"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="foot_joint"/> <general joint="foot_joint" ctrlrange="-1 1" gear="200 0 0 0 0 0" actdim="0"/>
</actuator> </actuator>
<asset>
<texture type="skybox" builtin="gradient" rgb1=".4 .5 .6" rgb2="0 0 0"
width="100" height="100"/>
<texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
<texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
<material name="geom" texture="texgeom" texuniform="true"/>
</asset>
</mujoco> </mujoco>

51
fancy_gym/envs/mujoco/hopper_jump/assets/hopper_jump_on_box.before_convert.xml Normal file
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<mujoco model="hopper">
<compiler angle="degree" coordinate="global" 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"/>
<motor ctrllimited="true" ctrlrange="-.4 .4"/>
</default>
<option integrator="RK4" timestep="0.002"/>
<visual>
<map znear="0.02"/>
</visual>
<worldbody>
<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="0.13/2 0 0.1">
<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"/>
</body>
</body>
</body>
</body>
<body name="box" pos="1 0 0">
<geom friction="1.0" fromto="0.48 0 0 1 0 0" name="basket_ground_geom" size="0.3" type="box" rgba="1 0 0 1"/>
</body>
</worldbody>
<actuator>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="thigh_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="leg_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="foot_joint"/>
</actuator>
<asset>
<texture type="skybox" builtin="gradient" rgb1=".4 .5 .6" rgb2="0 0 0"
width="100" height="100"/>
<texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
<texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
<material name="geom" texture="texgeom" texuniform="true"/>
</asset>
</mujoco>

75
fancy_gym/envs/mujoco/hopper_jump/assets/hopper_jump_on_box.xml
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@ -1,51 +1,50 @@
<mujoco model="hopper"> <mujoco model="hopper">
<compiler angle="degree" coordinate="global" inertiafromgeom="true"/> <compiler angle="radian" autolimits="true"/>
<default> <option integrator="RK4"/>
<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"/>
<motor ctrllimited="true" ctrlrange="-.4 .4"/>
</default>
<option integrator="RK4" timestep="0.002"/>
<visual> <visual>
<map znear="0.02"/> <map znear="0.02"/>
</visual> </visual>
<default class="main">
<joint limited="true" armature="1" damping="1"/>
<geom condim="1" solimp="0.8 0.8 0.01 0.5 2" margin="0.001" material="geom" rgba="0.8 0.6 0.4 1"/>
<general ctrllimited="true" ctrlrange="-0.4 0.4"/>
</default>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.4 0.5 0.6" rgb2="0 0 0" width="100" height="600"/>
<texture type="cube" name="texgeom" builtin="flat" mark="cross" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" width="127" height="762"/>
<texture type="2d" name="texplane" builtin="checker" rgb1="0 0 0" rgb2="0.8 0.8 0.8" width="100" height="100"/>
<material name="MatPlane" texture="texplane" texrepeat="60 60" specular="1" shininess="1" reflectance="0.5"/>
<material name="geom" texture="texgeom" texuniform="true"/>
</asset>
<worldbody> <worldbody>
<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 name="floor" size="20 20 0.125" type="plane" condim="3" material="MatPlane" rgba="0.8 0.9 0.8 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"/> <light pos="0 0 1.3" dir="0 0 -1" directional="true" cutoff="100" exponent="1" diffuse="1 1 1" specular="0.1 0.1 0.1"/>
<body name="torso" pos="0 0 1.25"> <body name="torso" pos="0 0 1.25" gravcomp="0">
<camera name="track" mode="trackcom" pos="0 -3 1" xyaxes="1 0 0 0 0 1"/> <joint name="rootx" pos="0 0 -1.25" axis="1 0 0" limited="false" type="slide" armature="0" damping="0"/>
<joint armature="0" axis="1 0 0" damping="0" limited="false" name="rootx" pos="0 0 0" stiffness="0" type="slide"/> <joint name="rootz" pos="0 0 -1.25" axis="0 0 1" limited="false" type="slide" ref="1.25" armature="0" damping="0"/>
<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 name="rooty" pos="0 0 0" axis="0 1 0" limited="false" armature="0" damping="0"/>
<joint armature="0" axis="0 1 0" damping="0" limited="false" name="rooty" pos="0 0 1.25" stiffness="0" type="hinge"/> <geom name="torso_geom" size="0.05 0.2" type="capsule" friction="0.9 0.005 0.0001"/>
<geom friction="0.9" fromto="0 0 1.45 0 0 1.05" name="torso_geom" size="0.05" type="capsule"/> <camera name="track" pos="0 -3 -0.25" quat="0.707107 0.707107 0 0" mode="trackcom"/>
<body name="thigh" pos="0 0 1.05"> <body name="thigh" pos="0 0 -0.2" gravcomp="0">
<joint axis="0 -1 0" name="thigh_joint" pos="0 0 1.05" range="-150 0" type="hinge"/> <joint name="thigh_joint" pos="0 0 0" axis="0 -1 0" range="-2.61799 0"/>
<geom friction="0.9" fromto="0 0 1.05 0 0 0.6" name="thigh_geom" size="0.05" type="capsule"/> <geom name="thigh_geom" size="0.05 0.225" pos="0 0 -0.225" type="capsule" friction="0.9 0.005 0.0001"/>
<body name="leg" pos="0 0 0.35"> <body name="leg" pos="0 0 -0.7" gravcomp="0">
<joint axis="0 -1 0" name="leg_joint" pos="0 0 0.6" range="-150 0" type="hinge"/> <joint name="leg_joint" pos="0 0 0.25" axis="0 -1 0" range="-2.61799 0"/>
<geom friction="0.9" fromto="0 0 0.6 0 0 0.1" name="leg_geom" size="0.04" type="capsule"/> <geom name="leg_geom" size="0.04 0.25" type="capsule" friction="0.9 0.005 0.0001"/>
<body name="foot" pos="0.13/2 0 0.1"> <body name="foot" pos="0.065 0 -0.25" gravcomp="0">
<joint axis="0 -1 0" name="foot_joint" pos="0 0 0.1" range="-45 45" type="hinge"/> <joint name="foot_joint" pos="-0.065 0 0" axis="0 -1 0" range="-0.785398 0.785398"/>
<geom friction="2.0" fromto="-0.13 0 0.1 0.26 0 0.1" name="foot_geom" size="0.06" type="capsule"/> <geom name="foot_geom" size="0.06 0.195" quat="0.707107 0 -0.707107 0" type="capsule" friction="2 0.005 0.0001"/>
</body> </body>
</body> </body>
</body> </body>
</body> </body>
<body name="box" pos="1 0 0"> <body name="box" pos="1 0 0" gravcomp="0">
<geom friction="1.0" fromto="0.48 0 0 1 0 0" name="basket_ground_geom" size="0.3" type="box" rgba="1 0 0 1"/> <geom name="basket_ground_geom" size="0.3 0.3 0.26" pos="-0.26 0 0" quat="0.707107 0 -0.707107 0" type="box" rgba="1 0 0 1"/>
</body> </body>
</worldbody> </worldbody>
<actuator> <actuator>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="thigh_joint"/> <general joint="thigh_joint" ctrlrange="-1 1" gear="200 0 0 0 0 0" actdim="0"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="leg_joint"/> <general joint="leg_joint" ctrlrange="-1 1" gear="200 0 0 0 0 0" actdim="0"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="foot_joint"/> <general joint="foot_joint" ctrlrange="-1 1" gear="200 0 0 0 0 0" actdim="0"/>
</actuator> </actuator>
<asset> </mujoco>
<texture type="skybox" builtin="gradient" rgb1=".4 .5 .6" rgb2="0 0 0"
width="100" height="100"/>
<texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
<texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
<material name="geom" texture="texgeom" texuniform="true"/>
</asset>
</mujoco>