remove collision option

Farama-Foundation · Oct 19, 2023 · d4b3c76 · d4b3c76
1 parent a994022
commit d4b3c76
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/gymnasium/envs/mujoco/assets/swimmer.xml b/gymnasium/envs/mujoco/assets/swimmer.xml
@@ -1,8 +1,8 @@
 <mujoco model="swimmer">
   <compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
-  <option collision="predefined" density="4000" integrator="RK4" timestep="0.01" viscosity="0.1"/>
+  <option density="4000" integrator="RK4" timestep="0.01" viscosity="0.1"/>
   <default>
-    <geom conaffinity="1" condim="1" contype="1" material="geom" rgba="0.8 0.6 .4 1"/>
+    <geom conaffinity="0" condim="1" contype="0" material="geom" rgba="0.8 0.6 .4 1"/>
     <joint armature='0.1'  />
   </default>
   <asset>
@@ -14,7 +14,7 @@
   </asset>
   <worldbody>
     <light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
-    <geom conaffinity="1" condim="3" material="MatPlane" name="floor" pos="0 0 -0.1" rgba="0.8 0.9 0.8 1" size="40 40 0.1" type="plane"/>
+    <geom condim="3" material="MatPlane" name="floor" pos="0 0 -0.1" rgba="0.8 0.9 0.8 1" size="40 40 0.1" type="plane"/>
     <!--  ================= SWIMMER ================= /-->
     <body name="torso" pos="0 0 0">
       <camera name="track" mode="trackcom" pos="0 -3 3" xyaxes="1 0 0 0 1 1"/>