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google-deepmind / dm_control

Google DeepMind's software stack for physics-based simulation and Reinforcement Learning environments, using MuJoCo.
Apache License 2.0
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How to change the parameters of mujoco tasks? #189

Closed c4cld closed 3 years ago

c4cld commented 3 years ago

For example, I want to change the length of pole in Cartpole task and observe the effect of this change.

yuvaltassa commented 3 years ago

You need to tweak the model definition. For example the length of the pole is defined here https://github.com/deepmind/dm_control/blob/master/dm_control/suite/cartpole.xml#L13 .

Dr. Yuval Tassa | Research Scientist | Google DeepMind | @.***

On Mon, Jun 28, 2021 at 9:27 AM zjp @.***> wrote:

For example, I want to change the length of pole in Cartpole task and observe the effect of this change.

— You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub https://github.com/deepmind/dm_control/issues/189, or unsubscribe https://github.com/notifications/unsubscribe-auth/ABQXORWC7YF3VYLKAZ5ODQDTVAXAZANCNFSM47NO6QNQ .

c4cld commented 3 years ago

@yuvaltassa Thank you for your prompt reply and selfless help ^_^ I've got what you mention. However, I'm not familiar with the relationship between the parameters I want to change and the corresponding definition in XML document. For example, I am unable to find the relationship between the length of the pole and https://github.com/deepmind/dm_control/blob/master/dm_control/suite/cartpole.xml#L13... Because in that code, I don't find words such as "length". How should I learn about the relationship?

yuvaltassa commented 3 years ago

Read the MuJoCo XML reference http://mujoco.org/book/XMLreference.html. Specifically for your example, read this http://mujoco.org/book/XMLreference.html#geom. It is very helpful to quickly tweak the XML and reload the model, either in MuJoCo's simulate app, or in our viewer.

Dr. Yuval Tassa | Research Scientist | Google DeepMind | @.***

On Mon, Jun 28, 2021 at 9:59 AM zjp @.***> wrote:

@yuvaltassa https://github.com/yuvaltassa Thank you for your prompt reply and selfless help ^_^ I've got what you mention. However, I'm not familiar with the relationship between the parameters I want to change and the corresponding definition in XML document. For example, I am unable to find the relationship between the length of the pole and https://github.com/deepmind/dm_control/blob/master/dm_control/suite/cartpole.xml#L13... Because in that code, I don't find words such as "length". How should I learn about the relationship?

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/deepmind/dm_control/issues/189#issuecomment-869505270, or unsubscribe https://github.com/notifications/unsubscribe-auth/ABQXORVZV36JY5AWU63ZJF3TVA2WLANCNFSM47NO6QNQ .

c4cld commented 3 years ago

@yuvaltassa Thank you very much.