fix wrong dependency.

examples/domain_randomization/atlas.yaml

@@ -0,0 +1,327 @@
+Joints:
+  # set either a sigma for sampling from a normal distirbution or set a delta-range for uniform sampling.
+  back_bkz:
+    damping:
+      sigma: 0.0
+      uniform_range: null
+    stiffness:
+      sigma: 0.0
+      uniform_range: null
+    armature:
+      sigma: 0.0
+      uniform_range: null
+    frictionloss:
+      sigma: 0.0
+      uniform_range: null
+  back_bkx:
+    damping:
+      sigma: 0.0
+      uniform_range: null
+    stiffness:
+      sigma: 0.0
+      uniform_range: null
+    armature:
+      sigma: 0.0
+      uniform_range: null
+    frictionloss:
+      sigma: 0.0
+      uniform_range: null
+  back_bky:
+    damping:
+      sigma: 0.0
+      uniform_range: null
+    stiffness:
+      sigma: 0.0
+      uniform_range: null
+    armature:
+      sigma: 0.0
+      uniform_range: null
+    frictionloss:
+      sigma: 0.0
+      uniform_range: null
+  l_arm_shz:
+    damping:
+      sigma: 0.0
+      uniform_range: null
+    stiffness:
+      sigma: 0.0
+      uniform_range: null
+    armature:
+      sigma: 0.0
+      uniform_range: null
+    frictionloss:
+      sigma: 0.0
+      uniform_range: null
+  l_arm_shx:
+    damping:
+      sigma: 0.0
+      uniform_range: null
+    stiffness:
+      sigma: 0.0
+      uniform_range: null
+    armature:
+      sigma: 0.0
+      uniform_range: null
+    frictionloss:
+      sigma: 0.0
+      uniform_range: null
+  l_arm_ely:
+    damping:
+      sigma: 0.0
+      uniform_range: null
+    stiffness:
+      sigma: 0.0
+      uniform_range: null
+    armature:
+      sigma: 0.0
+      uniform_range: null
+    frictionloss:
+      sigma: 0.0
+      uniform_range: null
+  l_arm_elx:
+    damping:
+      sigma: 0.0
+      uniform_range: null
+    stiffness:
+      sigma: 0.0
+      uniform_range: null
+    armature:
+      sigma: 0.0
+      uniform_range: null
+    frictionloss:
+      sigma: 0.0
+      uniform_range: null
+  l_arm_wry:
+    damping:
+      sigma: 0.0
+      uniform_range: null
+    stiffness:
+      sigma: 0.0
+      uniform_range: null
+    armature:
+      sigma: 0.0
+      uniform_range: null
+    frictionloss:
+      sigma: 0.0
+      uniform_range: null
+  l_arm_wrx:
+    damping:
+      sigma: 0.0
+      uniform_range: null
+    stiffness:
+      sigma: 0.0
+      uniform_range: null
+    armature:
+      sigma: 0.0
+      uniform_range: null
+    frictionloss:
+      sigma: 0.0
+      uniform_range: null
+  r_arm_shz:
+    damping:
+      sigma: 0.0
+      uniform_range: null
+    stiffness:
+      sigma: 0.0
+      uniform_range: null
+    armature:
+      sigma: 0.0
+      uniform_range: null
+    frictionloss:
+      sigma: 0.0
+      uniform_range: null
+  r_arm_shx:
+    damping:
+      sigma: 0.0
+      uniform_range: null
+    stiffness:
+      sigma: 0.0
+      uniform_range: null
+    armature:
+      sigma: 0.0
+      uniform_range: null
+    frictionloss:
+      sigma: 0.0
+      uniform_range: null
+  r_arm_ely:
+    damping:
+      sigma: 0.0
+      uniform_range: null
+    stiffness:
+      sigma: 0.0
+      uniform_range: null
+    armature:
+      sigma: 0.0
+      uniform_range: null
+    frictionloss:
+      sigma: 0.0
+      uniform_range: null
+  r_arm_elx:
+    damping:
+      sigma: 0.0
+      uniform_range: null
+    stiffness:
+      sigma: 0.0
+      uniform_range: null
+    armature:
+      sigma: 0.0
+      uniform_range: null
+    frictionloss:
+      sigma: 0.0
+      uniform_range: null
+  r_arm_wry:
+    damping:
+      sigma: 0.0
+      uniform_range: null
+    stiffness:
+      sigma: 0.0
+      uniform_range: null
+    armature:
+      sigma: 0.0
+      uniform_range: null
+    frictionloss:
+      sigma: 0.0
+      uniform_range: null
+  r_arm_wrx:
+    damping:
+      sigma: 0.0
+      uniform_range: null
+    stiffness:
+      sigma: 0.0
+      uniform_range: null
+    armature:
+      sigma: 0.0
+      uniform_range: null
+    frictionloss:
+      sigma: 0.0
+      uniform_range: null
+  hip_flexion_r:
+    damping:
+      sigma: 0.0
+      uniform_range: null
+    stiffness:
+      sigma: 0.0
+      uniform_range: null
+    armature:
+      sigma: 0.0
+      uniform_range: null
+    frictionloss:
+      sigma: 0.0
+      uniform_range: null
+  hip_adduction_r:
+    damping:
+      sigma: 0.0
+      uniform_range: null
+    stiffness:
+      sigma: 0.0
+      uniform_range: null
+    armature:
+      sigma: 0.0
+      uniform_range: null
+    frictionloss:
+      sigma: 0.0
+      uniform_range: null
+  hip_rotation_r:
+    damping:
+      sigma: 0.0
+      uniform_range: null
+    stiffness:
+      sigma: 0.0
+      uniform_range: null
+    armature:
+      sigma: 0.0
+      uniform_range: null
+    frictionloss:
+      sigma: 0.0
+      uniform_range: null
+  knee_angle_r:
+    damping:
+      sigma: 0.0
+      uniform_range: null
+    stiffness:
+      sigma: 0.0
+      uniform_range: null
+    armature:
+      sigma: 0.0
+      uniform_range: null
+    frictionloss:
+      sigma: 0.0
+      uniform_range: null
+  ankle_angle_r:
+    damping:
+      sigma: 0.0
+      uniform_range: null
+    stiffness:
+      sigma: 0.0
+      uniform_range: null
+    armature:
+      sigma: 0.0
+      uniform_range: null
+    frictionloss:
+      sigma: 0.0
+      uniform_range: null
+  hip_flexion_l:
+    damping:
+      sigma: 0.0
+      uniform_range: null
+    stiffness:
+      sigma: 0.0
+      uniform_range: null
+    armature:
+      sigma: 0.0
+      uniform_range: null
+    frictionloss:
+      sigma: 0.0
+      uniform_range: null
+  hip_adduction_l:
+    damping:
+      sigma: 0.0
+      uniform_range: null
+    stiffness:
+      sigma: 0.0
+      uniform_range: null
+    armature:
+      sigma: 0.0
+      uniform_range: null
+    frictionloss:
+      sigma: 0.0
+      uniform_range: null
+  hip_rotation_l:
+    damping:
+      sigma: 0.0
+      uniform_range: null
+    stiffness:
+      sigma: 0.0
+      uniform_range: null
+    armature:
+      sigma: 0.0
+      uniform_range: null
+    frictionloss:
+      sigma: 0.0
+      uniform_range: null
+  knee_angle_l:
+    damping:
+      sigma: 0.0
+      uniform_range: null
+    stiffness:
+      sigma: 0.0
+      uniform_range: null
+    armature:
+      sigma: 0.0
+      uniform_range: null
+    frictionloss:
+      sigma: 0.0
+      uniform_range: null
+  ankle_angle_l:
+    damping:
+      sigma: 0.0
+      uniform_range: null
+    stiffness:
+      sigma: 0.0
+      uniform_range: null
+    armature:
+      sigma: 0.0
+      uniform_range: null
+    frictionloss:
+      sigma: 0.0
+      uniform_range: null

examples/domain_randomization/example_atlas.py

@@ -0,0 +1,22 @@
+import numpy as np
+from loco_mujoco import LocoEnv
+
+
+env = LocoEnv.make("Atlas", domain_randomization_config="./atlas.yaml")
+
+action_dim = env.info.action_space.shape[0]
+
+env.reset()
+env.render()
+absorbing = False
+i = 0
+
+while True:
+    if i == 1000 or absorbing:
+        env.reset()
+        i = 0
+    action = np.random.randn(action_dim) * 0.1
+    nstate, _, absorbing, _ = env.step(action)
+
+    env.render()
+    i += 1

examples/domain_randomization/example_humanoid_torque.py

@@ -0,0 +1,22 @@
+import numpy as np
+from loco_mujoco import LocoEnv
+
+
+env = LocoEnv.make("HumanoidTorque", domain_randomization_config="./humanoid.yaml")
+
+action_dim = env.info.action_space.shape[0]
+
+env.reset()
+env.render()
+absorbing = False
+i = 0
+
+while True:
+    if i == 1000 or absorbing:
+        env.reset()
+        i = 0
+    action = np.random.randn(action_dim)
+    nstate, _, absorbing, _ = env.step(action)
+
+    env.render()
+    i += 1

examples/domain_randomization/example_humanoid_torque_4_ages.py

@@ -0,0 +1,22 @@
+import numpy as np
+from loco_mujoco import LocoEnv
+
+
+env = LocoEnv.make("HumanoidTorque4Ages.walk.1.real", domain_randomization_config="./humanoid.yaml")
+
+action_dim = env.info.action_space.shape[0]
+
+env.reset()
+env.render()
+absorbing = False
+i = 0
+
+while True:
+    if i == 1000 or absorbing:
+        env.reset()
+        i = 0
+    action = np.random.randn(action_dim)
+    nstate, _, absorbing, _ = env.step(action)
+
+    env.render()
+    i += 1