Add Hopper and Walker2D models for v5

Farama-Foundation · pseudo-rnd-thoughts · Jul 24, 2023 · May 2, 2023 · May 9, 2023 · May 9, 2023
commit cf153f66ad14ac83d1ae997e9dc12acf2d3c618a
diff --git a/gymnasium/envs/mujoco/assets/hopper_v5.xml b/gymnasium/envs/mujoco/assets/hopper_v5.xml
@@ -0,0 +1,53 @@
+<!--
+Hopper model for `Hopper-v5`, based on openai/Hopper
+modified by @kallinteris-Andreas
+  - To not require `coordinate="global"`
+-->
+<mujoco model="hopper">
+  <compiler angle="degree" coordinate="local" 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 -0.25"/>
+      <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 0.2" type="capsule"/>
+      <body name="thigh" pos="0 0 -0.2">
+        <joint axis="0 -1 0" name="thigh_joint" pos="0 0 0" range="-150 0" type="hinge"/>
+        <geom friction="0.9" name="thigh_geom" size="0.05 0.225" pos="0 0 -0.225" type="capsule"/>
+        <body name="leg" pos="0 0 -0.7">
+          <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" name="foot_geom" size="0.06 0.195" pos="-0.065 0 0.1" quat="0.707107 0 -0.707107 0" type="capsule"/>
+          </body>
+        </body>
+      </body>
+    </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="600"/>
+        <texture builtin="flat" height="762" mark="cross" markrgb="1 1 1" name="texgeom" 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>
diff --git a/gymnasium/envs/mujoco/assets/walker2d_v5.xml b/gymnasium/envs/mujoco/assets/walker2d_v5.xml
@@ -0,0 +1,68 @@
+<!--
+Walker2D model for `Walker2d-v5`, based on openai/gym/Walker2d
+modified by @kallinteris-Andreas
+  - To not require `coordinate="global"`
+  - Set feet friction to 2.0
+-->
+<mujoco model="walker2d">
+  <compiler angle="degree" coordinate="local" 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 -0.25"/>
+      <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 0.2" type="capsule"/>
+      <body name="thigh" pos="0 0 -0.2">
+        <joint axis="0 -1 0" name="thigh_joint" pos="0 0 0" range="-150 0" type="hinge"/>
+        <geom friction="0.9" name="thigh_geom" size="0.05 0.225" pos="0 0 -0.225" type="capsule"/>
+        <body name="leg" pos="0 0 -0.7">
+          <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="0.2 0 -0.35">
+            <joint axis="0 -1 0" name="foot_joint" pos="-0.2 0 0.1" range="-45 45" type="hinge"/>
+            <geom friction="2.0" name="foot_geom" size="0.06 0.1" pos="-0.1 0 0.1" quat="0.707107 0 -0.707107 0" 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 -0.2">
+        <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="0.05 0.225" pos="0 0 -0.225" type="capsule"/>
+        <body name="leg_left" pos="0 0 -0.7">
+          <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="0.04 0.25" type="capsule" />
+          <body name="foot_left" pos="0.2 0 -0.35">
+            <joint axis="0 -1 0" name="foot_left_joint" pos="-0.2 0 0.1" range="-45 45" type="hinge"/>
+            <geom friction="2.0" name="foot_left_geom" rgba=".7 .3 .6 1" size="0.06 0.1" pos="-0.1 0 0.1" quat="0.707107 0 -0.707107 0" 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>