Switching to MuJoCo 2.1.0 #8
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This PR switched Cassie simulator to use MuJoCo 2.1.0, which, after DeepMind acquisition is open-source and open access now. Because mjv_makeScene will free the previous scn, switched v allocation from malloc to calloc too. Otherwise using 2.1.0 will crash on start. Test Plan: Run `make test`, and run `test/cassietest.py`, before this PR, it requires MuJoCo 1.5, now MuJoCo 2.1 worked and runs.
| @@ -37,16 +37,15 @@ build: $(LIBOUT) | |||
| cp -r model/* build/ | |||
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| ctypes: build | |||
| clang2py include/*.h --clang-args="-I/usr/include/clang/6.0/include -Iinclude" -l ./$(LIBOUT) -o build/cassiemujoco_ctypes.py | |||
| clang2py include/*.h --clang-args="-I/usr/include/clang/10/include -Iinclude" -l ./$(LIBOUT) -o build/cassiemujoco_ctypes.py | |||
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Not sure what's the best way to update this. I happens to use clang 10.
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Just noticed the major development happens on Minor suggestion: making the actively developed branch your default one, such that people aware this repo is active. |
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I can run cassie on 210 mujoco but my question is when I test cassietest.py I only see the robot fall down for gravity. How can I test the reinforcement learning training with Cassie? |
Do you have refuse it? I have a same problem! |
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My understanding is this for the Cassie simulation. It doesn't have the PPO training nor the LSTM model code. |
This PR switched Cassie simulator to use MuJoCo 2.1.0, which, after
DeepMind acquisition is open-source and open access now.
Because mjv_makeScene will free the previous scn, switched v allocation
from malloc to calloc too. Otherwise using 2.1.0 will crash on start.
Test Plan:
Run
make test, and runtest/cassietest.py, before this PR, itrequires MuJoCo 1.5, now MuJoCo 2.1 worked and runs.