From 47291c26a2ddf096e259ceede997a5e27da34e7e Mon Sep 17 00:00:00 2001 From: rainx0r Date: Sat, 10 Aug 2024 22:28:02 +0100 Subject: [PATCH 1/5] Update MuJoCo to 3.X --- metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py | 2 +- pyproject.toml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py b/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py index a7ca202ac..80b728105 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py +++ b/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py @@ -131,7 +131,7 @@ def reset_mocap_welds(self) -> None: for i in range(self.model.eq_data.shape[0]): if self.model.eq_type[i] == mujoco.mjtEq.mjEQ_WELD: self.model.eq_data[i] = np.array( - [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0] + [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, 3.75] ) diff --git a/pyproject.toml b/pyproject.toml index f203eb202..64fdb2c69 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -25,7 +25,7 @@ classifiers = [ ] dependencies = [ "gymnasium>=1.0.0a1", - "mujoco<3.0.0", + "mujoco>=3.0.0", "numpy>=1.18", "scipy>=1.4.1", "imageio" From c34d2d3b9204ccf5576dc22a15972824bccd898b Mon Sep 17 00:00:00 2001 From: rainx0r Date: Sun, 11 Aug 2024 10:44:03 +0100 Subject: [PATCH 2/5] Update torquescale to 4 --- metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py b/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py index 80b728105..1f1624ea8 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py +++ b/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py @@ -131,7 +131,7 @@ def reset_mocap_welds(self) -> None: for i in range(self.model.eq_data.shape[0]): if self.model.eq_type[i] == mujoco.mjtEq.mjEQ_WELD: self.model.eq_data[i] = np.array( - [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, 3.75] + [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, 4] ) From ba0c2abbcb5a2c58d6ed1f5320f539af43074f4c Mon Sep 17 00:00:00 2001 From: rainx0r Date: Sun, 11 Aug 2024 11:07:45 +0100 Subject: [PATCH 3/5] Update torquescale to 5 (as originally tested) --- metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py b/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py index 1f1624ea8..51d209cae 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py +++ b/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py @@ -131,7 +131,7 @@ def reset_mocap_welds(self) -> None: for i in range(self.model.eq_data.shape[0]): if self.model.eq_type[i] == mujoco.mjtEq.mjEQ_WELD: self.model.eq_data[i] = np.array( - [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, 4] + [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, 5] ) From f131964fcedeea6526a252d50b27d5e47d47b87c Mon Sep 17 00:00:00 2001 From: rainx0r Date: Tue, 13 Aug 2024 16:20:12 +0100 Subject: [PATCH 4/5] Update torquescale to 8.2 as a result of hyperparameter tuning --- metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py b/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py index 51d209cae..e0c1924cf 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py +++ b/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py @@ -131,7 +131,7 @@ def reset_mocap_welds(self) -> None: for i in range(self.model.eq_data.shape[0]): if self.model.eq_type[i] == mujoco.mjtEq.mjEQ_WELD: self.model.eq_data[i] = np.array( - [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, 5] + [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, 8.2] ) From bdfae43dafbb7f29196956385098c64403d31818 Mon Sep 17 00:00:00 2001 From: rainx0r Date: Fri, 23 Aug 2024 23:53:19 +0100 Subject: [PATCH 5/5] Revert torquescale to 5 --- metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py b/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py index e0c1924cf..f540a7fe7 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py +++ b/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py @@ -131,7 +131,7 @@ def reset_mocap_welds(self) -> None: for i in range(self.model.eq_data.shape[0]): if self.model.eq_type[i] == mujoco.mjtEq.mjEQ_WELD: self.model.eq_data[i] = np.array( - [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, 8.2] + [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, 5.0] )