diff --git a/main/.buildinfo b/main/.buildinfo index b17bdd22..4d6f9fdf 100644 --- a/main/.buildinfo +++ b/main/.buildinfo @@ -1,4 +1,4 @@ # Sphinx build info version 1 # This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done. -config: a1364843c9ea1e1d101086a07f794f00 +config: 169dad8b49a723d29ce84680c85802e8 tags: d77d1c0d9ca2f4c8421862c7c5a0d620 diff --git a/main/_images/ant_8x1.png b/main/_images/ant_8x1.png new file mode 100644 index 00000000..b449fc06 Binary files /dev/null and b/main/_images/ant_8x1.png differ diff --git a/main/_images/boston_dymanics_spot_arm.png b/main/_images/boston_dymanics_spot_arm.png new file mode 100644 index 00000000..179b9797 Binary files /dev/null and b/main/_images/boston_dymanics_spot_arm.png differ diff --git a/main/envs/MaMuJoCo/index.html b/main/envs/MaMuJoCo/index.html index 159d8de8..4965a06c 100644 --- a/main/envs/MaMuJoCo/index.html +++ b/main/envs/MaMuJoCo/index.html @@ -443,9 +443,13 @@

Arguments

How to create new agent factorizations

+

MaMuJoCo-v1 not only supports the existing factorization, but also supports creating new factorizations.

example ‘Ant-v5’, ‘8x1’

In this example, we will create an agent factorization not present in Gymnasium-Robotics/MaMuJoCo the “Ant”/’8x1’, where each agent controls a single joint/action (first implemented by safe-MaMuJoCo).

+
+../../_images/ant_8x1.png +

first we will load the graph of MaMuJoCo:

>>> from gymnasium_robotics.mamujoco_v1 import get_parts_and_edges
 >>> unpartioned_nodes, edges, global_nodes = get_parts_and_edges('Ant-v5', None)
@@ -468,19 +472,128 @@ 
example ‘Ant-v5’, ‘8x1’
+
example ‘boston dynamics spot arm’ with  custom ‘quadruped|arm’ factorization

+
Here we are Factorizing the “Boston Dynamics Spot with arm” robot with the robot model from Menagarie, into 1 agent for the locomoting quadruped component and 1 agent for the manipulator arm component.
+We are using the robot model from MuJoCo Menagerie.

+

+../../_images/boston_dymanics_spot_arm.png
+

+
from gymnasium_robotics import mamujoco_v1
+from gymnasium_robotics.envs.multiagent_mujoco.obsk import Node, HyperEdge
+
+# Define the factorization graph
+freejoint = Node(
+    "freejoint",
+    None,
+    None,
+    None,
+    extra_obs={
+        "qpos": lambda data: data.qpos[2:7],
+        "qvel": lambda data: data.qvel[:6],
+    },
+)
+fl_hx = Node("fl_hx", -19, -19, 0)
+fl_hy = Node("fl_hy", -18, -18, 1)
+fl_kn = Node("fl_kn", -17, -17, 2)
+fr_hx = Node("fr_hx", -16, -16, 3)
+fr_hy = Node("fr_hy", -15, -15, 4)
+fr_kn = Node("fr_kn", -14, -14, 5)
+hl_hx = Node("hl_hx", -13, -13, 6)
+hl_hy = Node("hl_hy", -12, -12, 7)
+hl_kn = Node("hl_kn", -11, -11, 8)
+hr_hx = Node("hr_hx", -10, -10, 9)
+hr_hy = Node("hr_hy", -9, -9, 10)
+hr_kn = Node("hr_kn", -8, -8, 11)
+arm_sh0 = Node("arm_sh0", -7, -7, 12)
+arm_sh1 = Node("arm_sh1", -6, -6, 13)
+arm_el0 = Node("arm_el0", -5, -5, 14)
+arm_el1 = Node("arm_el1", -4, -4, 15)
+arm_wr0 = Node("arm_wr0", -3, -3, 16)
+arm_wr1 = Node("arm_wr1", -2, -2, 17)
+arm_f1x = Node("arm_f1x", -1, -1, 18)
+
+parts = [
+    (  # Locomoting Quadruped Component
+        fl_hx,
+        fl_hy,
+        fl_kn,
+        fr_hx,
+        fr_hy,
+        fr_kn,
+        hl_hx,
+        hl_hy,
+        hl_kn,
+        hr_hx,
+        hr_hy,
+        hr_kn,
+    ),
+    (  # Arm Manipulator Component
+        arm_sh0,
+        arm_sh1,
+        arm_el0,
+        arm_el1,
+        arm_wr0,
+        arm_wr1,
+        arm_f1x,
+    ),
+]
+
+edges = [
+    HyperEdge(fl_hx, fl_hy, fl_kn),
+    HyperEdge(fr_hx, fr_hy, fr_kn),
+    HyperEdge(hl_hx, hl_hy, hl_kn),
+    HyperEdge(hr_hx, hr_hy, hr_kn),
+    HyperEdge(  # Main "body" connections
+        fl_hx,
+        fl_hy,
+        fr_hx,
+        fr_hy,
+        hl_hx,
+        hl_hy,
+        hr_hx,
+        hr_hy,
+        arm_sh0,
+        arm_sh1,
+    ),
+    HyperEdge(arm_sh0, arm_sh1, arm_el0, arm_el1),
+    HyperEdge(arm_el0, arm_el1, arm_wr0, arm_wr1),
+    HyperEdge(arm_wr0, arm_wr1, arm_f1x),
+]
+
+global_nodes = [freejoint]
+
+my_agent_factorization = {"partition": parts, "edges": edges, "globals": global_nodes}
+env = mamujoco_v1.parallel_env(
+    "Ant",
+    "quadruped|arm",
+    agent_factorization=my_agent_factorization,
+    xml_file="./mujoco_menagerie/boston_dynamics_spot/scene_arm.xml",
+)
+

+

+

Version History

@@ -549,6 +662,7 @@

Version HistoryHow to create new agent factorizations
  • Version History
    • diff --git a/main/objects.inv b/main/objects.inv index 35999017..5bc566dc 100644 Binary files a/main/objects.inv and b/main/objects.inv differ diff --git a/main/searchindex.js b/main/searchindex.js index 1ba7956e..0d415b9a 100644 --- a/main/searchindex.js +++ b/main/searchindex.js @@ -1 +1 @@ -Search.setIndex({"alltitles": {"404": [[0, null]], "API": [[4, "api"]], "Action Space": [[5, "action-space"], [6, "action-space"], [7, "action-space"], [8, "action-space"], [9, "action-space"], [10, "action-space"], [11, "action-space"], [12, "action-space"], [13, "action-space"], [14, "action-space"], [15, "action-space"], [16, "action-space"]], "Adroit Hand": [[17, null]], "Agent 0 action space": [[5, "agent-0-action-space"], [7, "agent-0-action-space"], [8, "agent-0-action-space"], [11, "agent-0-action-space"], [13, "agent-0-action-space"], [15, "agent-0-action-space"]], "Agent 0 action space (Shoulder)": [[12, "agent-0-action-space-shoulder"]], "Agent 0 action space (Upper Body)": [[9, 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