Allow Mujoco version >= 2.3.6

Mr-tooth · Apr 3, 2024 · 199b84c · 199b84c
1 parent 95671c3
commit 199b84c
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Showing 3 changed files with 3 additions and 2 deletions.
diff --git a/loco_mujoco/environments/data/humanoid/humanoid_muscle.xml b/loco_mujoco/environments/data/humanoid/humanoid_muscle.xml
@@ -16,7 +16,7 @@
  <muscle scale="200" ctrlrange="0 1" ctrllimited="true" range="0.65 1.05"></muscle>
  <motor ctrlrange="-1.0 1.0" ctrllimited="true"></motor>
  </default>
- <option integrator="Euler" iterations="50" solver="Newton" timestep="0.001" collision="dynamic">
+ <option integrator="Euler" iterations="50" solver="Newton" timestep="0.001">
  <flag energy="enable"></flag>
  </option>
  <size njmax="1000" nconmax="400" nuser_jnt="1"></size>

diff --git a/loco_mujoco/utils/dataset.py b/loco_mujoco/utils/dataset.py
@@ -67,6 +67,7 @@ def download_perfect_datasets():
  os.makedirs(dataset_path_humanoid_str, exist_ok=True)
  humanoid_url = "https://zenodo.org/records/10912641/files/humanoid_datasets_perfect_v0.2.zip?download=1"
  wget.download(humanoid_url, out=dataset_path_humanoid_str)
+ print("\n")
  file_name = "humanoid_datasets_perfect_v0.2.zip"
  file_path = str(dataset_path_humanoid / file_name)
  with zipfile.ZipFile(file_path, "r") as zip_ref:

diff --git a/requirements.txt b/requirements.txt
@@ -1,7 +1,7 @@
 mushroom-rl>=1.10.0
 numpy
 scipy
-mujoco==2.3.6
+mujoco>=2.3.6
 gymnasium
 dm_control
 pyyaml