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Converted mujoco env 'walker2d' 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 13:40:33 +02:00
parent c06fbee728
commit ff382a2922
2 changed files with 110 additions and 50 deletions
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64
fancy_gym/envs/mujoco/walker_2d_jump/assets/walker2d.before_convert.xml Normal file
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@ -0,0 +1,64 @@
<mujoco model="walker2d">
<compiler angle="degree" coordinate="global" 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"/>
</default>
<option integrator="RK4" timestep="0.002"/>
<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="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="0.2/2 0 0.1">
<site name="foot_right_site" pos="0 0 0.04" size="0.02 0.02 0.02" rgba="0 0 1 1" type="sphere"/>
<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"/>
</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="0.2/2 0 0.1">
<site name="foot_left_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_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>
</body>
</body>
</body>
</worldbody>
<actuator>
<!-- <motor joint="torso_joint" ctrlrange="-100.0 100.0" isctrllimited="true"/>-->
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="thigh_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="leg_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="foot_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="thigh_left_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="leg_left_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="foot_left_joint"/>
<!-- <motor joint="finger2_rot" ctrlrange="-20.0 20.0" isctrllimited="true"/>-->
</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>

96
fancy_gym/envs/mujoco/walker_2d_jump/assets/walker2d.xml
View File

@ -1,64 +1,60 @@
<mujoco model="walker2d"> <mujoco model="walker2d">
<compiler angle="degree" coordinate="global" inertiafromgeom="true"/> <compiler angle="radian" autolimits="true"/>
<default> <option integrator="RK4"/>
<joint armature="0.01" damping=".1" limited="true"/> <default class="main">
<geom conaffinity="0" condim="3" contype="1" density="1000" friction=".7 .1 .1" rgba="0.8 0.6 .4 1"/> <joint limited="true" armature="0.01" damping="0.1"/>
<geom conaffinity="0" friction="0.7 0.1 0.1" rgba="0.8 0.6 0.4 1"/>
</default> </default>
<option integrator="RK4" timestep="0.002"/> <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="40 40 40" type="plane" conaffinity="1" 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="40 40 40" 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 0.1 0.1"/>
<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 0.1 0.1"/>
<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 0.1 0.1"/>
<body name="foot" pos="0.2/2 0 0.1"> <body name="foot" pos="0.1 0 -0.25" gravcomp="0">
<site name="foot_right_site" pos="0 0 0.04" size="0.02 0.02 0.02" rgba="0 0 1 1" type="sphere"/> <joint name="foot_joint" pos="-0.1 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 0.1" quat="0.707107 0 -0.707107 0" type="capsule" friction="0.9 0.1 0.1"/>
<geom friction="0.9" fromto="-0.0 0 0.1 0.2 0 0.1" name="foot_geom" size="0.06" type="capsule"/> <site name="foot_right_site" pos="-0.1 0 -0.06" size="0.02" rgba="0 0 1 1"/>
</body> </body>
</body> </body>
</body> </body>
<!-- copied and then replace thigh->thigh_left, leg->leg_left, foot->foot_right --> <body name="thigh_left" pos="0 0 -0.2" gravcomp="0">
<body name="thigh_left" pos="0 0 1.05"> <joint name="thigh_left_joint" pos="0 0 0" axis="0 -1 0" range="-2.61799 0"/>
<joint axis="0 -1 0" name="thigh_left_joint" pos="0 0 1.05" range="-150 0" type="hinge"/> <geom name="thigh_left_geom" size="0.05 0.225" pos="0 0 -0.225" type="capsule" friction="0.9 0.1 0.1" rgba="0.7 0.3 0.6 1"/>
<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 -0.7" gravcomp="0">
<body name="leg_left" pos="0 0 0.35"> <joint name="leg_left_joint" pos="0 0 0.25" axis="0 -1 0" range="-2.61799 0"/>
<joint axis="0 -1 0" name="leg_left_joint" pos="0 0 0.6" range="-150 0" type="hinge"/> <geom name="leg_left_geom" size="0.04 0.25" type="capsule" friction="0.9 0.1 0.1" rgba="0.7 0.3 0.6 1"/>
<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="0.1 0 -0.25" gravcomp="0">
<body name="foot_left" pos="0.2/2 0 0.1"> <joint name="foot_left_joint" pos="-0.1 0 0" axis="0 -1 0" range="-0.785398 0.785398"/>
<site name="foot_left_site" pos="0 0 0.04" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"/> <geom name="foot_left_geom" size="0.06 0.1" quat="0.707107 0 -0.707107 0" type="capsule" friction="1.9 0.1 0.1" rgba="0.7 0.3 0.6 1"/>
<joint axis="0 -1 0" name="foot_left_joint" pos="0 0 0.1" range="-45 45" type="hinge"/> <site name="foot_left_site" pos="-0.1 0 -0.06" size="0.02" rgba="1 0 0 1"/>
<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> </body>
</body> </body>
</body> </body>
</body> </body>
</worldbody> </worldbody>
<actuator> <actuator>
<!-- <motor joint="torso_joint" ctrlrange="-100.0 100.0" isctrllimited="true"/>--> <general joint="thigh_joint" ctrlrange="-1 1" gear="100 0 0 0 0 0" actdim="0"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="thigh_joint"/> <general joint="leg_joint" ctrlrange="-1 1" gear="100 0 0 0 0 0" actdim="0"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="leg_joint"/> <general joint="foot_joint" ctrlrange="-1 1" gear="100 0 0 0 0 0" actdim="0"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="foot_joint"/> <general joint="thigh_left_joint" ctrlrange="-1 1" gear="100 0 0 0 0 0" actdim="0"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="thigh_left_joint"/> <general joint="leg_left_joint" ctrlrange="-1 1" gear="100 0 0 0 0 0" actdim="0"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="leg_left_joint"/> <general joint="foot_left_joint" ctrlrange="-1 1" gear="100 0 0 0 0 0" actdim="0"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="foot_left_joint"/>
<!-- <motor joint="finger2_rot" ctrlrange="-20.0 20.0" isctrllimited="true"/>-->
</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>