I get the error
ValueError: XML Error: global coordinates no longer supported. To convert existing models, load and save them in MuJoCo 2.3.3 or older
When i try to load the walker2d-v4 model even with **kwargs.
env = gym.make(
'Walker2d-v4',
# xml_file="walker2d.xml",
forward_reward_weight=1.0,
ctrl_cost_weight=1e-3,
healthy_reward=1.0,
terminate_when_unhealthy=True,
healthy_z_range=(0.8, 2),
healthy_angle_range=(-1, 1),
reset_noise_scale=5e-3,
exclude_current_positions_from_observation=True
)
Anyone face similar issues?
Here's the solution to this, thanks to @yuval for pointing it out.
you need to load the walker2d.xml with this error into a model. For this you need to install mujoco 2.3.3 and then run the following code,
model = mujoco.MjModel.from_xml_path('walker2d.xml')
mujoco.viewer.launch(model)
This should open up a mujoco viewer window that has an option to "save XML" - this should save the updated xml file as mjmodel.xml in the current dir. just copy paste that into walker2d.xml and your gym code should now be working.
<mujoco model="walker2d">
<compiler angle="radian" autolimits="true"/>
<option integrator="RK4"/>
<default class="main">
<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>
<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>
<geom name="floor" size="40 40 40" type="plane" conaffinity="1" material="MatPlane" rgba="0.8 0.9 0.8 1"/>
<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" gravcomp="0">
<joint name="rootx" pos="0 0 -1.25" axis="1 0 0" limited="false" type="slide" armature="0" damping="0"/>
<joint name="rootz" pos="0 0 -1.25" axis="0 0 1" limited="false" type="slide" ref="1.25" armature="0" damping="0"/>
<joint name="rooty" pos="0 0 0" axis="0 1 0" limited="false" armature="0" damping="0"/>
<geom name="torso_geom" size="0.05 0.2" type="capsule" friction="0.9 0.1 0.1"/>
<camera name="track" pos="0 -3 -0.25" quat="0.707107 0.707107 0 0" mode="trackcom"/>
<body name="thigh" pos="0 0 -0.2" gravcomp="0">
<joint name="thigh_joint" pos="0 0 0" axis="0 -1 0" range="-2.61799 0"/>
<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 -0.7" gravcomp="0">
<joint name="leg_joint" pos="0 0 0.25" axis="0 -1 0" range="-2.61799 0"/>
<geom name="leg_geom" size="0.04 0.25" type="capsule" friction="0.9 0.1 0.1"/>
<body name="foot" pos="0.2 0 -0.35" gravcomp="0">
<joint name="foot_joint" pos="-0.2 0 0.1" axis="0 -1 0" range="-0.785398 0.785398"/>
<geom name="foot_geom" size="0.06 0.1" pos="-0.1 0 0.1" quat="0.707107 0 -0.707107 0" type="capsule" friction="0.9 0.1 0.1"/>
</body>
</body>
</body>
<body name="thigh_left" pos="0 0 -0.2" gravcomp="0">
<joint name="thigh_left_joint" pos="0 0 0" axis="0 -1 0" range="-2.61799 0"/>
<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"/>
<body name="leg_left" pos="0 0 -0.7" gravcomp="0">
<joint name="leg_left_joint" pos="0 0 0.25" axis="0 -1 0" range="-2.61799 0"/>
<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"/>
<body name="foot_left" pos="0.2 0 -0.35" gravcomp="0">
<joint name="foot_left_joint" pos="-0.2 0 0.1" axis="0 -1 0" range="-0.785398 0.785398"/>
<geom name="foot_left_geom" size="0.06 0.1" pos="-0.1 0 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"/>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<general joint="thigh_joint" ctrlrange="-1 1" gear="100 0 0 0 0 0" actdim="0"/>
<general joint="leg_joint" ctrlrange="-1 1" gear="100 0 0 0 0 0" actdim="0"/>
<general joint="foot_joint" ctrlrange="-1 1" gear="100 0 0 0 0 0" actdim="0"/>
<general joint="thigh_left_joint" ctrlrange="-1 1" gear="100 0 0 0 0 0" actdim="0"/>
<general joint="leg_left_joint" ctrlrange="-1 1" gear="100 0 0 0 0 0" actdim="0"/>
<general joint="foot_left_joint" ctrlrange="-1 1" gear="100 0 0 0 0 0" actdim="0"/>
</actuator>
</mujoco>
See this issue and links therein.