Kilokem/Reinforced-Learning-Godot
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

I am done

Browse Source
This commit is contained in:
Kilokem
2024-10-30 22:14:35 +01:00
parent 720dc28c09
commit 40e2a747cf
36901 changed files with 5011519 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

81
rl/Lib/site-packages/gymnasium/envs/mujoco/assets/ant.xml Normal file
View File

@ -0,0 +1,81 @@
<mujoco model="ant">
<compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
<option integrator="RK4" timestep="0.01"/>
<custom>
<numeric data="0.0 0.0 0.55 1.0 0.0 0.0 0.0 0.0 1.0 0.0 -1.0 0.0 -1.0 0.0 1.0" name="init_qpos"/>
</custom>
<default>
<joint armature="1" damping="1" limited="true"/>
<geom conaffinity="0" condim="3" density="5.0" friction="1 0.5 0.5" margin="0.01" rgba="0.8 0.6 0.4 1"/>
</default>
<asset>
<texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="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>
<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" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane"/>
<body name="torso" pos="0 0 0.75">
<camera name="track" mode="trackcom" pos="0 -3 0.3" xyaxes="1 0 0 0 0 1"/>
<geom name="torso_geom" pos="0 0 0" size="0.25" type="sphere"/>
<joint armature="0" damping="0" limited="false" margin="0.01" name="root" pos="0 0 0" type="free"/>
<body name="front_left_leg" pos="0 0 0">
<geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="aux_1_geom" size="0.08" type="capsule"/>
<body name="aux_1" pos="0.2 0.2 0">
<joint axis="0 0 1" name="hip_1" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="left_leg_geom" size="0.08" type="capsule"/>
<body pos="0.2 0.2 0">
<joint axis="-1 1 0" name="ankle_1" pos="0.0 0.0 0.0" range="30 70" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.4 0.4 0.0" name="left_ankle_geom" size="0.08" type="capsule"/>
</body>
</body>
</body>
<body name="front_right_leg" pos="0 0 0">
<geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="aux_2_geom" size="0.08" type="capsule"/>
<body name="aux_2" pos="-0.2 0.2 0">
<joint axis="0 0 1" name="hip_2" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
<geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="right_leg_geom" size="0.08" type="capsule"/>
<body pos="-0.2 0.2 0">
<joint axis="1 1 0" name="ankle_2" pos="0.0 0.0 0.0" range="-70 -30" type="hinge"/>
<geom fromto="0.0 0.0 0.0 -0.4 0.4 0.0" name="right_ankle_geom" size="0.08" type="capsule"/>
</body>
</body>
</body>
<body name="back_leg" pos="0 0 0">
<geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="aux_3_geom" size="0.08" type="capsule"/>
<body name="aux_3" pos="-0.2 -0.2 0">
<joint axis="0 0 1" name="hip_3" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
<geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="back_leg_geom" size="0.08" type="capsule"/>
<body pos="-0.2 -0.2 0">
<joint axis="-1 1 0" name="ankle_3" pos="0.0 0.0 0.0" range="-70 -30" type="hinge"/>
<geom fromto="0.0 0.0 0.0 -0.4 -0.4 0.0" name="third_ankle_geom" size="0.08" type="capsule"/>
</body>
</body>
</body>
<body name="right_back_leg" pos="0 0 0">
<geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="aux_4_geom" size="0.08" type="capsule"/>
<body name="aux_4" pos="0.2 -0.2 0">
<joint axis="0 0 1" name="hip_4" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="rightback_leg_geom" size="0.08" type="capsule"/>
<body pos="0.2 -0.2 0">
<joint axis="1 1 0" name="ankle_4" pos="0.0 0.0 0.0" range="30 70" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.4 -0.4 0.0" name="fourth_ankle_geom" size="0.08" type="capsule"/>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_4" gear="150"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_4" gear="150"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_1" gear="150"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_1" gear="150"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_2" gear="150"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_2" gear="150"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_3" gear="150"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_3" gear="150"/>
</actuator>
</mujoco>

96
rl/Lib/site-packages/gymnasium/envs/mujoco/assets/half_cheetah.xml Normal file
View File

@ -0,0 +1,96 @@
<!-- Cheetah Model
The state space is populated with joints in the order that they are
defined in this file. The actuators also operate on joints.
State-Space (name/joint/parameter):
- rootx slider position (m)
- rootz slider position (m)
- rooty hinge angle (rad)
- bthigh hinge angle (rad)
- bshin hinge angle (rad)
- bfoot hinge angle (rad)
- fthigh hinge angle (rad)
- fshin hinge angle (rad)
- ffoot hinge angle (rad)
- rootx slider velocity (m/s)
- rootz slider velocity (m/s)
- rooty hinge angular velocity (rad/s)
- bthigh hinge angular velocity (rad/s)
- bshin hinge angular velocity (rad/s)
- bfoot hinge angular velocity (rad/s)
- fthigh hinge angular velocity (rad/s)
- fshin hinge angular velocity (rad/s)
- ffoot hinge angular velocity (rad/s)
Actuators (name/actuator/parameter):
- bthigh hinge torque (N m)
- bshin hinge torque (N m)
- bfoot hinge torque (N m)
- fthigh hinge torque (N m)
- fshin hinge torque (N m)
- ffoot hinge torque (N m)
-->
<mujoco model="cheetah">
<compiler angle="radian" coordinate="local" inertiafromgeom="true" settotalmass="14"/>
<default>
<joint armature=".1" damping=".01" limited="true" solimplimit="0 .8 .03" solreflimit=".02 1" stiffness="8"/>
<geom conaffinity="0" condim="3" contype="1" friction=".4 .1 .1" rgba="0.8 0.6 .4 1" solimp="0.0 0.8 0.01" solref="0.02 1"/>
<motor ctrllimited="true" ctrlrange="-1 1"/>
</default>
<size nstack="300000" nuser_geom="1"/>
<option gravity="0 0 -9.81" timestep="0.01"/>
<asset>
<texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="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>
<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" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane"/>
<body name="torso" pos="0 0 .7">
<camera name="track" mode="trackcom" pos="0 -3 0.3" 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" 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 fromto="-.5 0 0 .5 0 0" name="torso" size="0.046" type="capsule"/>
<geom axisangle="0 1 0 .87" name="head" pos=".6 0 .1" size="0.046 .15" type="capsule"/>
<!-- <site name='tip' pos='.15 0 .11'/>-->
<body name="bthigh" pos="-.5 0 0">
<joint axis="0 1 0" damping="6" name="bthigh" pos="0 0 0" range="-.52 1.05" stiffness="240" type="hinge"/>
<geom axisangle="0 1 0 -3.8" name="bthigh" pos=".1 0 -.13" size="0.046 .145" type="capsule"/>
<body name="bshin" pos=".16 0 -.25">
<joint axis="0 1 0" damping="4.5" name="bshin" pos="0 0 0" range="-.785 .785" stiffness="180" type="hinge"/>
<geom axisangle="0 1 0 -2.03" name="bshin" pos="-.14 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .15" type="capsule"/>
<body name="bfoot" pos="-.28 0 -.14">
<joint axis="0 1 0" damping="3" name="bfoot" pos="0 0 0" range="-.4 .785" stiffness="120" type="hinge"/>
<geom axisangle="0 1 0 -.27" name="bfoot" pos=".03 0 -.097" rgba="0.9 0.6 0.6 1" size="0.046 .094" type="capsule"/>
</body>
</body>
</body>
<body name="fthigh" pos=".5 0 0">
<joint axis="0 1 0" damping="4.5" name="fthigh" pos="0 0 0" range="-1 .7" stiffness="180" type="hinge"/>
<geom axisangle="0 1 0 .52" name="fthigh" pos="-.07 0 -.12" size="0.046 .133" type="capsule"/>
<body name="fshin" pos="-.14 0 -.24">
<joint axis="0 1 0" damping="3" name="fshin" pos="0 0 0" range="-1.2 .87" stiffness="120" type="hinge"/>
<geom axisangle="0 1 0 -.6" name="fshin" pos=".065 0 -.09" rgba="0.9 0.6 0.6 1" size="0.046 .106" type="capsule"/>
<body name="ffoot" pos=".13 0 -.18">
<joint axis="0 1 0" damping="1.5" name="ffoot" pos="0 0 0" range="-.5 .5" stiffness="60" type="hinge"/>
<geom axisangle="0 1 0 -.6" name="ffoot" pos=".045 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .07" type="capsule"/>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor gear="120" joint="bthigh" name="bthigh"/>
<motor gear="90" joint="bshin" name="bshin"/>
<motor gear="60" joint="bfoot" name="bfoot"/>
<motor gear="120" joint="fthigh" name="fthigh"/>
<motor gear="60" joint="fshin" name="fshin"/>
<motor gear="30" joint="ffoot" name="ffoot"/>
</actuator>
</mujoco>

53
rl/Lib/site-packages/gymnasium/envs/mujoco/assets/hopper.xml Normal file
View File

@ -0,0 +1,53 @@
<!--
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" 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" 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>
</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>

121
rl/Lib/site-packages/gymnasium/envs/mujoco/assets/humanoid.xml Normal file
View File

@ -0,0 +1,121 @@
<mujoco model="humanoid">
<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"/>
<motor ctrllimited="true" ctrlrange="-.4 .4"/>
</default>
<option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
<!-- <flags solverstat="enable" energy="enable"/>-->
</option>
<size nkey="5" nuser_geom="1"/>
<visual>
<map fogend="5" fogstart="3"/>
</visual>
<asset>
<texture builtin="gradient" height="100" rgb1=".4 .5 .6" rgb2="0 0 0" type="skybox" width="100"/>
<!-- <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="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>
<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 condim="3" friction="1 .1 .1" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="20 20 0.125" type="plane"/>
<!-- <geom condim="3" material="MatPlane" name="floor" pos="0 0 0" size="10 10 0.125" type="plane"/>-->
<body name="torso" pos="0 0 1.4">
<camera name="track" mode="trackcom" pos="0 -4 0" xyaxes="1 0 0 0 0 1"/>
<joint armature="0" damping="0" limited="false" name="root" pos="0 0 0" stiffness="0" type="free"/>
<geom fromto="0 -.07 0 0 .07 0" name="torso1" size="0.07" type="capsule"/>
<geom name="head" pos="0 0 .19" size=".09" type="sphere" user="258"/>
<geom fromto="-.01 -.06 -.12 -.01 .06 -.12" name="uwaist" size="0.06" type="capsule"/>
<body name="lwaist" pos="-.01 0 -0.260" quat="1.000 0 -0.002 0">
<geom fromto="0 -.06 0 0 .06 0" name="lwaist" size="0.06" type="capsule"/>
<joint armature="0.02" axis="0 0 1" damping="5" name="abdomen_z" pos="0 0 0.065" range="-45 45" stiffness="20" type="hinge"/>
<joint armature="0.02" axis="0 1 0" damping="5" name="abdomen_y" pos="0 0 0.065" range="-75 30" stiffness="10" type="hinge"/>
<body name="pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0">
<joint armature="0.02" axis="1 0 0" damping="5" name="abdomen_x" pos="0 0 0.1" range="-35 35" stiffness="10" type="hinge"/>
<geom fromto="-.02 -.07 0 -.02 .07 0" name="butt" size="0.09" type="capsule"/>
<body name="right_thigh" pos="0 -0.1 -0.04">
<joint armature="0.01" axis="1 0 0" damping="5" name="right_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
<joint armature="0.01" axis="0 0 1" damping="5" name="right_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
<joint armature="0.0080" axis="0 1 0" damping="5" name="right_hip_y" pos="0 0 0" range="-110 20" stiffness="20" type="hinge"/>
<geom fromto="0 0 0 0 0.01 -.34" name="right_thigh1" size="0.06" type="capsule"/>
<body name="right_shin" pos="0 0.01 -0.403">
<joint armature="0.0060" axis="0 -1 0" name="right_knee" pos="0 0 .02" range="-160 -2" type="hinge"/>
<geom fromto="0 0 0 0 0 -.3" name="right_shin1" size="0.049" type="capsule"/>
<body name="right_foot" pos="0 0 -0.45">
<geom name="right_foot" pos="0 0 0.1" size="0.075" type="sphere" user="0"/>
</body>
</body>
</body>
<body name="left_thigh" pos="0 0.1 -0.04">
<joint armature="0.01" axis="-1 0 0" damping="5" name="left_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
<joint armature="0.01" axis="0 0 -1" damping="5" name="left_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
<joint armature="0.01" axis="0 1 0" damping="5" name="left_hip_y" pos="0 0 0" range="-110 20" stiffness="20" type="hinge"/>
<geom fromto="0 0 0 0 -0.01 -.34" name="left_thigh1" size="0.06" type="capsule"/>
<body name="left_shin" pos="0 -0.01 -0.403">
<joint armature="0.0060" axis="0 -1 0" name="left_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
<geom fromto="0 0 0 0 0 -.3" name="left_shin1" size="0.049" type="capsule"/>
<body name="left_foot" pos="0 0 -0.45">
<geom name="left_foot" type="sphere" size="0.075" pos="0 0 0.1" user="0" />
</body>
</body>
</body>
</body>
</body>
<body name="right_upper_arm" pos="0 -0.17 0.06">
<joint armature="0.0068" axis="2 1 1" name="right_shoulder1" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
<joint armature="0.0051" axis="0 -1 1" name="right_shoulder2" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
<geom fromto="0 0 0 .16 -.16 -.16" name="right_uarm1" size="0.04 0.16" type="capsule"/>
<body name="right_lower_arm" pos=".18 -.18 -.18">
<joint armature="0.0028" axis="0 -1 1" name="right_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
<geom fromto="0.01 0.01 0.01 .17 .17 .17" name="right_larm" size="0.031" type="capsule"/>
<geom name="right_hand" pos=".18 .18 .18" size="0.04" type="sphere"/>
<camera pos="0 0 0"/>
</body>
</body>
<body name="left_upper_arm" pos="0 0.17 0.06">
<joint armature="0.0068" axis="2 -1 1" name="left_shoulder1" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
<joint armature="0.0051" axis="0 1 1" name="left_shoulder2" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
<geom fromto="0 0 0 .16 .16 -.16" name="left_uarm1" size="0.04 0.16" type="capsule"/>
<body name="left_lower_arm" pos=".18 .18 -.18">
<joint armature="0.0028" axis="0 -1 -1" name="left_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
<geom fromto="0.01 -0.01 0.01 .17 -.17 .17" name="left_larm" size="0.031" type="capsule"/>
<geom name="left_hand" pos=".18 -.18 .18" size="0.04" type="sphere"/>
</body>
</body>
</body>
</worldbody>
<tendon>
<fixed name="left_hipknee">
<joint coef="-1" joint="left_hip_y"/>
<joint coef="1" joint="left_knee"/>
</fixed>
<fixed name="right_hipknee">
<joint coef="-1" joint="right_hip_y"/>
<joint coef="1" joint="right_knee"/>
</fixed>
</tendon>
<actuator>
<motor gear="100" joint="abdomen_y" name="abdomen_y"/>
<motor gear="100" joint="abdomen_z" name="abdomen_z"/>
<motor gear="100" joint="abdomen_x" name="abdomen_x"/>
<motor gear="100" joint="right_hip_x" name="right_hip_x"/>
<motor gear="100" joint="right_hip_z" name="right_hip_z"/>
<motor gear="300" joint="right_hip_y" name="right_hip_y"/>
<motor gear="200" joint="right_knee" name="right_knee"/>
<motor gear="100" joint="left_hip_x" name="left_hip_x"/>
<motor gear="100" joint="left_hip_z" name="left_hip_z"/>
<motor gear="300" joint="left_hip_y" name="left_hip_y"/>
<motor gear="200" joint="left_knee" name="left_knee"/>
<motor gear="25" joint="right_shoulder1" name="right_shoulder1"/>
<motor gear="25" joint="right_shoulder2" name="right_shoulder2"/>
<motor gear="25" joint="right_elbow" name="right_elbow"/>
<motor gear="25" joint="left_shoulder1" name="left_shoulder1"/>
<motor gear="25" joint="left_shoulder2" name="left_shoulder2"/>
<motor gear="25" joint="left_elbow" name="left_elbow"/>
</actuator>
</mujoco>

121
rl/Lib/site-packages/gymnasium/envs/mujoco/assets/humanoidstandup.xml Normal file
View File

@ -0,0 +1,121 @@
<mujoco model="humanoidstandup">
<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"/>
<motor ctrllimited="true" ctrlrange="-.4 .4"/>
</default>
<option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
<!-- <flags solverstat="enable" energy="enable"/>-->
</option>
<size nkey="5" nuser_geom="1"/>
<visual>
<map fogend="5" fogstart="3"/>
</visual>
<asset>
<texture builtin="gradient" height="100" rgb1=".4 .5 .6" rgb2="0 0 0" type="skybox" width="100"/>
<!-- <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="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>
<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 condim="3" friction="1 .1 .1" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="20 20 0.125" type="plane"/>
<!-- <geom condim="3" material="MatPlane" name="floor" pos="0 0 0" size="10 10 0.125" type="plane"/>-->
<body name="torso" pos="0 0 .105">
<camera name="track" mode="trackcom" pos="0 -3 .5" xyaxes="1 0 0 0 0 1"/>
<joint armature="0" damping="0" limited="false" name="root" pos="0 0 0" stiffness="0" type="free"/>
<geom fromto="0 -.07 0 0 .07 0" name="torso1" size="0.07" type="capsule"/>
<geom name="head" pos="-.15 0 0" size=".09" type="sphere" user="258"/>
<geom fromto=".11 -.06 0 .11 .06 0" name="uwaist" size="0.06" type="capsule"/>
<body name="lwaist" pos=".21 0 0" quat="1.000 0 -0.002 0">
<geom fromto="0 -.06 0 0 .06 0" name="lwaist" size="0.06" type="capsule"/>
<joint armature="0.02" axis="0 0 1" damping="5" name="abdomen_z" pos="0 0 0.065" range="-45 45" stiffness="20" type="hinge"/>
<joint armature="0.02" axis="0 1 0" damping="5" name="abdomen_y" pos="0 0 0.065" range="-75 30" stiffness="10" type="hinge"/>
<body name="pelvis" pos="0.165 0 0" quat="1.000 0 -0.002 0">
<joint armature="0.02" axis="1 0 0" damping="5" name="abdomen_x" pos="0 0 0.1" range="-35 35" stiffness="10" type="hinge"/>
<geom fromto="-.02 -.07 0 -.02 .07 0" name="butt" size="0.09" type="capsule"/>
<body name="right_thigh" pos="0 -0.1 0">
<joint armature="0.01" axis="1 0 0" damping="5" name="right_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
<joint armature="0.01" axis="0 0 1" damping="5" name="right_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
<joint armature="0.0080" axis="0 1 0" damping="5" name="right_hip_y" pos="0 0 0" range="-110 20" stiffness="20" type="hinge"/>
<geom fromto="0 0 0 0.34 0.01 0" name="right_thigh1" size="0.06" type="capsule"/>
<body name="right_shin" pos="0.403 0.01 0">
<joint armature="0.0060" axis="0 -1 0" name="right_knee" pos="0 0 .02" range="-160 -2" type="hinge"/>
<geom fromto="0 0 0 0.3 0 0" name="right_shin1" size="0.049" type="capsule"/>
<body name="right_foot" pos="0.35 0 -.10">
<geom name="right_foot" pos="0 0 0.1" size="0.075" type="sphere" user="0"/>
</body>
</body>
</body>
<body name="left_thigh" pos="0 0.1 0">
<joint armature="0.01" axis="-1 0 0" damping="5" name="left_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
<joint armature="0.01" axis="0 0 -1" damping="5" name="left_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
<joint armature="0.01" axis="0 1 0" damping="5" name="left_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
<geom fromto="0 0 0 0.34 -0.01 0" name="left_thigh1" size="0.06" type="capsule"/>
<body name="left_shin" pos="0.403 -0.01 0">
<joint armature="0.0060" axis="0 -1 0" name="left_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
<geom fromto="0 0 0 0.3 0 0" name="left_shin1" size="0.049" type="capsule"/>
<body name="left_foot" pos="0.35 0 -.1">
<geom name="left_foot" type="sphere" size="0.075" pos="0 0 0.1" user="0" />
</body>
</body>
</body>
</body>
</body>
<body name="right_upper_arm" pos="0 -0.17 0.06">
<joint armature="0.0068" axis="2 1 1" name="right_shoulder1" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
<joint armature="0.0051" axis="0 -1 1" name="right_shoulder2" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
<geom fromto="0 0 0 .16 -.16 -.16" name="right_uarm1" size="0.04 0.16" type="capsule"/>
<body name="right_lower_arm" pos=".18 -.18 -.18">
<joint armature="0.0028" axis="0 -1 1" name="right_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
<geom fromto="0.01 0.01 0.01 .17 .17 .17" name="right_larm" size="0.031" type="capsule"/>
<geom name="right_hand" pos=".18 .18 .18" size="0.04" type="sphere"/>
<camera pos="0 0 0"/>
</body>
</body>
<body name="left_upper_arm" pos="0 0.17 0.06">
<joint armature="0.0068" axis="2 -1 1" name="left_shoulder1" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
<joint armature="0.0051" axis="0 1 1" name="left_shoulder2" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
<geom fromto="0 0 0 .16 .16 -.16" name="left_uarm1" size="0.04 0.16" type="capsule"/>
<body name="left_lower_arm" pos=".18 .18 -.18">
<joint armature="0.0028" axis="0 -1 -1" name="left_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
<geom fromto="0.01 -0.01 0.01 .17 -.17 .17" name="left_larm" size="0.031" type="capsule"/>
<geom name="left_hand" pos=".18 -.18 .18" size="0.04" type="sphere"/>
</body>
</body>
</body>
</worldbody>
<tendon>
<fixed name="left_hipknee">
<joint coef="-1" joint="left_hip_y"/>
<joint coef="1" joint="left_knee"/>
</fixed>
<fixed name="right_hipknee">
<joint coef="-1" joint="right_hip_y"/>
<joint coef="1" joint="right_knee"/>
</fixed>
</tendon>
<actuator>
<motor gear="100" joint="abdomen_y" name="abdomen_y"/>
<motor gear="100" joint="abdomen_z" name="abdomen_z"/>
<motor gear="100" joint="abdomen_x" name="abdomen_x"/>
<motor gear="100" joint="right_hip_x" name="right_hip_x"/>
<motor gear="100" joint="right_hip_z" name="right_hip_z"/>
<motor gear="300" joint="right_hip_y" name="right_hip_y"/>
<motor gear="200" joint="right_knee" name="right_knee"/>
<motor gear="100" joint="left_hip_x" name="left_hip_x"/>
<motor gear="100" joint="left_hip_z" name="left_hip_z"/>
<motor gear="300" joint="left_hip_y" name="left_hip_y"/>
<motor gear="200" joint="left_knee" name="left_knee"/>
<motor gear="25" joint="right_shoulder1" name="right_shoulder1"/>
<motor gear="25" joint="right_shoulder2" name="right_shoulder2"/>
<motor gear="25" joint="right_elbow" name="right_elbow"/>
<motor gear="25" joint="left_shoulder1" name="left_shoulder1"/>
<motor gear="25" joint="left_shoulder2" name="left_shoulder2"/>
<motor gear="25" joint="left_elbow" name="left_elbow"/>
</actuator>
</mujoco>

47
rl/Lib/site-packages/gymnasium/envs/mujoco/assets/inverted_double_pendulum.xml Normal file
View File

@ -0,0 +1,47 @@
<!-- Cartpole Model
The state space is populated with joints in the order that they are
defined in this file. The actuators also operate on joints.
State-Space (name/joint/parameter):
- cart slider position (m)
- pole hinge angle (rad)
- cart slider velocity (m/s)
- pole hinge angular velocity (rad/s)
Actuators (name/actuator/parameter):
- cart motor force x (N)
-->
<mujoco model="cartpole">
<compiler coordinate="local" inertiafromgeom="true"/>
<custom>
<numeric data="2" name="frame_skip"/>
</custom>
<default>
<joint damping="0.05"/>
<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
</default>
<option gravity="1e-5 0 -9.81" integrator="RK4" timestep="0.01"/>
<size nstack="3000"/>
<worldbody>
<geom name="floor" pos="0 0 -3.0" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane"/>
<geom name="rail" pos="0 0 0" quat="0.707 0 0.707 0" rgba="0.3 0.3 0.7 1" size="0.02 1" type="capsule"/>
<body name="cart" pos="0 0 0">
<joint axis="1 0 0" limited="true" margin="0.01" name="slider" pos="0 0 0" range="-1 1" type="slide"/>
<geom name="cart" pos="0 0 0" quat="0.707 0 0.707 0" size="0.1 0.1" type="capsule"/>
<body name="pole" pos="0 0 0">
<joint axis="0 1 0" name="hinge" pos="0 0 0" type="hinge"/>
<geom fromto="0 0 0 0 0 0.6" name="cpole" rgba="0 0.7 0.7 1" size="0.045 0.3" type="capsule"/>
<body name="pole2" pos="0 0 0.6">
<joint axis="0 1 0" name="hinge2" pos="0 0 0" type="hinge"/>
<geom fromto="0 0 0 0 0 0.6" name="cpole2" rgba="0 0.7 0.7 1" size="0.045 0.3" type="capsule"/>
<site name="tip" pos="0 0 .6" size="0.01 0.01"/>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor ctrllimited="true" ctrlrange="-1 1" gear="500" joint="slider" name="slide"/>
</actuator>
</mujoco>

27
rl/Lib/site-packages/gymnasium/envs/mujoco/assets/inverted_pendulum.xml Normal file
View File

@ -0,0 +1,27 @@
<mujoco model="inverted pendulum">
<compiler inertiafromgeom="true"/>
<default>
<joint armature="0" damping="1" limited="true"/>
<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
<tendon/>
<motor ctrlrange="-3 3"/>
</default>
<option gravity="0 0 -9.81" integrator="RK4" timestep="0.02"/>
<size nstack="3000"/>
<worldbody>
<!--geom name="ground" type="plane" pos="0 0 0" /-->
<geom name="rail" pos="0 0 0" quat="0.707 0 0.707 0" rgba="0.3 0.3 0.7 1" size="0.02 1" type="capsule"/>
<body name="cart" pos="0 0 0">
<joint axis="1 0 0" limited="true" name="slider" pos="0 0 0" range="-1 1" type="slide"/>
<geom name="cart" pos="0 0 0" quat="0.707 0 0.707 0" size="0.1 0.1" type="capsule"/>
<body name="pole" pos="0 0 0">
<joint axis="0 1 0" name="hinge" pos="0 0 0" range="-90 90" type="hinge"/>
<geom fromto="0 0 0 0.001 0 0.6" name="cpole" rgba="0 0.7 0.7 1" size="0.049 0.3" type="capsule"/>
<!-- <body name="pole2" pos="0.001 0 0.6"><joint name="hinge2" type="hinge" pos="0 0 0" axis="0 1 0"/><geom name="cpole2" type="capsule" fromto="0 0 0 0 0 0.6" size="0.05 0.3" rgba="0.7 0 0.7 1"/><site name="tip2" pos="0 0 .6"/></body>-->
</body>
</body>
</worldbody>
<actuator>
<motor ctrllimited="true" ctrlrange="-3 3" gear="100" joint="slider" name="slide"/>
</actuator>
</mujoco>

31
rl/Lib/site-packages/gymnasium/envs/mujoco/assets/point.xml Normal file
View File

@ -0,0 +1,31 @@
<mujoco>
<compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
<option integrator="RK4" timestep="0.02"/>
<default>
<joint armature="0" damping="0" limited="false"/>
<geom conaffinity="0" condim="3" density="100" friction="1 0.5 0.5" margin="0" rgba="0.8 0.6 0.4 1"/>
</default>
<asset>
<texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="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="30 30" texture="texplane"/>
<material name="geom" texture="texgeom" texuniform="true"/>
</asset>
<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" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane"/>
<body name="torso" pos="0 0 0">
<geom name="pointbody" pos="0 0 0.5" size="0.5" type="sphere"/>
<geom name="pointarrow" pos="0.6 0 0.5" size="0.5 0.1 0.1" type="box"/>
<joint axis="1 0 0" name="ballx" pos="0 0 0" type="slide"/>
<joint axis="0 1 0" name="bally" pos="0 0 0" type="slide"/>
<joint axis="0 0 1" limited="false" name="rot" pos="0 0 0" type="hinge"/>
</body>
</worldbody>
<actuator>
<!-- Those are just dummy actuators for providing ranges -->
<motor ctrllimited="true" ctrlrange="-1 1" joint="ballx"/>
<motor ctrllimited="true" ctrlrange="-0.25 0.25" joint="rot"/>
</actuator>
</mujoco>

91
rl/Lib/site-packages/gymnasium/envs/mujoco/assets/pusher.xml Normal file
View File

@ -0,0 +1,91 @@
<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="0.00001" conaffinity="0"/>
<geom rgba="1 1 1 1" type="cylinder" size="0.05 0.05 0.05" density="0.00001" 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>

39
rl/Lib/site-packages/gymnasium/envs/mujoco/assets/reacher.xml Normal file
View File

@ -0,0 +1,39 @@
<mujoco model="reacher">
<compiler angle="radian" inertiafromgeom="true"/>
<default>
<joint armature="1" damping="1" limited="true"/>
<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
</default>
<option gravity="0 0 -9.81" integrator="RK4" timestep="0.01"/>
<worldbody>
<!-- Arena -->
<geom conaffinity="0" contype="0" name="ground" pos="0 0 0" rgba="0.9 0.9 0.9 1" size="1 1 10" type="plane"/>
<geom conaffinity="0" fromto="-.3 -.3 .01 .3 -.3 .01" name="sideS" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
<geom conaffinity="0" fromto=" .3 -.3 .01 .3 .3 .01" name="sideE" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
<geom conaffinity="0" fromto="-.3 .3 .01 .3 .3 .01" name="sideN" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
<geom conaffinity="0" fromto="-.3 -.3 .01 -.3 .3 .01" name="sideW" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
<!-- Arm -->
<geom conaffinity="0" contype="0" fromto="0 0 0 0 0 0.02" name="root" rgba="0.9 0.4 0.6 1" size=".011" type="cylinder"/>
<body name="body0" pos="0 0 .01">
<geom fromto="0 0 0 0.1 0 0" name="link0" rgba="0.0 0.4 0.6 1" size=".01" type="capsule"/>
<joint axis="0 0 1" limited="false" name="joint0" pos="0 0 0" type="hinge"/>
<body name="body1" pos="0.1 0 0">
<joint axis="0 0 1" limited="true" name="joint1" pos="0 0 0" range="-3.0 3.0" type="hinge"/>
<geom fromto="0 0 0 0.1 0 0" name="link1" rgba="0.0 0.4 0.6 1" size=".01" type="capsule"/>
<body name="fingertip" pos="0.11 0 0">
<geom contype="0" name="fingertip" pos="0 0 0" rgba="0.0 0.8 0.6 1" size=".01" type="sphere"/>
</body>
</body>
</body>
<!-- Target -->
<body name="target" pos=".1 -.1 .01">
<joint armature="0" axis="1 0 0" damping="0" limited="true" name="target_x" pos="0 0 0" range="-.27 .27" ref=".1" stiffness="0" type="slide"/>
<joint armature="0" axis="0 1 0" damping="0" limited="true" name="target_y" pos="0 0 0" range="-.27 .27" ref="-.1" stiffness="0" type="slide"/>
<geom conaffinity="0" contype="0" name="target" pos="0 0 0" rgba="0.9 0.2 0.2 1" size=".009" type="sphere"/>
</body>
</worldbody>
<actuator>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="joint0"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="joint1"/>
</actuator>
</mujoco>

39
rl/Lib/site-packages/gymnasium/envs/mujoco/assets/swimmer.xml Normal file
View File

@ -0,0 +1,39 @@
<mujoco model="swimmer">
<compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
<option collision="predefined" density="4000" integrator="RK4" timestep="0.01" viscosity="0.1"/>
<default>
<geom conaffinity="1" condim="1" contype="1" material="geom" rgba="0.8 0.6 .4 1"/>
<joint armature='0.1' />
</default>
<asset>
<texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="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="30 30" texture="texplane"/>
<material name="geom" texture="texgeom" texuniform="true"/>
</asset>
<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" material="MatPlane" name="floor" pos="0 0 -0.1" rgba="0.8 0.9 0.8 1" size="40 40 0.1" type="plane"/>
<!-- ================= SWIMMER ================= /-->
<body name="torso" pos="0 0 0">
<camera name="track" mode="trackcom" pos="0 -3 3" xyaxes="1 0 0 0 1 1"/>
<geom density="1000" fromto="1.5 0 0 0.5 0 0" size="0.1" type="capsule"/>
<joint axis="1 0 0" name="slider1" pos="0 0 0" type="slide"/>
<joint axis="0 1 0" name="slider2" pos="0 0 0" type="slide"/>
<joint axis="0 0 1" name="free_body_rot" pos="0 0 0" type="hinge"/>
<body name="mid" pos="0.5 0 0">
<geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
<joint axis="0 0 1" limited="true" name="motor1_rot" pos="0 0 0" range="-100 100" type="hinge"/>
<body name="back" pos="-1 0 0">
<geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
<joint axis="0 0 1" limited="true" name="motor2_rot" pos="0 0 0" range="-100 100" type="hinge"/>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="motor1_rot"/>
<motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="motor2_rot"/>
</actuator>
</mujoco>

68
rl/Lib/site-packages/gymnasium/envs/mujoco/assets/walker2d.xml Normal file
View File

@ -0,0 +1,68 @@
<!--
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" 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" 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 -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>
</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>