Fixed minor issues for new release.

- fixed wrong paths for dataset download.
- fixed dm_control version to 1.0.14 to work with mujoco==2.3.7.
- updated readme.
- removed MyoSuiteHumanoid from test since it requires mujoco>=3.2.2.
- fixed #42 with new datasets.

README.md

@@ -48,6 +48,11 @@ pip install -e .
 > differences in the simulation, which made testing very difficult. However, in practice, you can 
 > use any newer version of MuJoCo! Just install it after installing LocoMuJoCo.
 
+> [!NOTE]
+> If you want to run the **MyoSuiteHumanoid** environment, you need to upgrade Mujoco to 3.2.2 and dm_control to 1.0.22
+> *after* installing this packing and downloading the datasets! 
+
+
 ### Download the Datasets
 After installing LocoMuJoCo, new commands for downloading the datasets will be setup for you.
 You have the choice of downloading all datasets available or only the ones you need.

loco_mujoco/utils/dataset.py

@@ -34,7 +34,7 @@ def download_real_datasets():
     humanoid_url = "https://zenodo.org/records/13737593/files/humanoid_datasets_v0.4.1.zip?download=1"
     wget.download(humanoid_url, out=dataset_path_humanoid_str)
     print("\n")
-    file_name = "humanoid_datasets_v0.3.0.zip"
+    file_name = "humanoid_datasets_v0.4.1.zip"
     file_path = str(dataset_path_humanoid / file_name)
     with zipfile.ZipFile(file_path, "r") as zip_ref:
         zip_ref.extractall(dataset_path_humanoid_str)
@@ -47,7 +47,7 @@ def download_real_datasets():
     quadruped_url = "https://zenodo.org/records/13737593/files/quadruped_datasets_v0.4.1.zip?download=1"
     wget.download(quadruped_url, out=dataset_path_quadrupeds_str)
     print("\n")
-    file_name = "quadruped_datasets_v0.3.0.zip"
+    file_name = "quadruped_datasets_v0.4.1.zip"
     file_path = str(dataset_path_quadrupeds / file_name)
     with zipfile.ZipFile(file_path, "r") as zip_ref:
         zip_ref.extractall(dataset_path_quadrupeds_str)
@@ -68,21 +68,20 @@ def download_perfect_datasets():
     humanoid_url = "https://zenodo.org/records/13737593/files/humanoid_datasets_perfect_v0.4.1.zip?download=1"
     wget.download(humanoid_url, out=dataset_path_humanoid_str)
     print("\n")
-    file_name = "humanoid_datasets_perfect_v0.3.0.zip"
+    file_name = "humanoid_datasets_perfect_v0.4.1.zip"
     file_path = str(dataset_path_humanoid / file_name)
     with zipfile.ZipFile(file_path, "r") as zip_ref:
         zip_ref.extractall(dataset_path_humanoid_str)
     os.remove(file_path)
 
-
     print("\nDownloading Perfect Quadruped Datasets ...")
     dataset_path_quadrupeds = dataset_path / "quadrupeds/perfect"
     dataset_path_quadrupeds_str = str(dataset_path_quadrupeds)
     os.makedirs(dataset_path_quadrupeds_str, exist_ok=True)
     quadruped_url = "https://zenodo.org/records/13737593/files/quadruped_datasets_perfect_v0.4.1.zip?download=1"
     wget.download(quadruped_url, out=dataset_path_quadrupeds_str)
     print("\n")
-    file_name = "quadruped_datasets_perfect_v0.3.0.zip"
+    file_name = "quadruped_datasets_perfect_v0.4.1.zip"
     file_path = str(dataset_path_quadrupeds / file_name)
     with zipfile.ZipFile(file_path, "r") as zip_ref:
         zip_ref.extractall(dataset_path_quadrupeds_str)

pyproject.toml

@@ -9,7 +9,7 @@ dependencies = [
     "scipy",
     "mujoco==2.3.7",
     "gymnasium",
-    "dm_control",
+    "dm_control==1.0.14",
     "pyyaml",
     "wget"]
 

requirements.txt

@@ -3,6 +3,6 @@ numpy
 scipy
 mujoco==2.3.7
 gymnasium
-dm_control
+dm_control==1.0.14
 pyyaml
 wget

tests/test_environments.py

@@ -71,8 +71,8 @@ def test_all_environments():
 
     for task_name in task_names:
 
-        # todo: include perfect datasets into tests
-        if "perfect" not in task_name:
+        # todo: include perfect datasets and MyoSuiteHumanoid into tests (the latter requires updating Mujoco >= 3.0)
+        if "perfect" not in task_name and "MyoSuiteHumanoid" not in task_name:
             np.random.seed(0)
 
             print(f"Testing {task_name}...")