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openai / gym

A toolkit for developing and comparing reinforcement learning algorithms.
https://www.gymlibrary.dev
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[Bug Report] pusher-v4 in the environment doesn't collide the object for the fork #3264

Open Ejafa opened 3 months ago

Ejafa commented 3 months ago

Please check: pusher.xml if there's any problem

    <!-- <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>
pseudo-rnd-thoughts commented 3 months ago

Thanks for reporting, this is an issue for MuJoCo 3.0, see https://github.com/Farama-Foundation/Gymnasium/issues/950 for more details