frt03/xmlconvert

xmlconvert

1. Convert metamorph's xml files to Brax's _SYSTEM_CONFIG.

python mujoco_converter.py --xml_model_path ./xml/floor-1409-1-6-01-07-43-16.xml  --config_path ./xml/floor-1409-1-6-01-07-43-16.txt --ignore_unsupported_joints
python mujoco_converter.py --xml_model_path ./xml/floor-1409-9-9-01-14-34-07.xml  --config_path ./xml/floor-1409-9-9-01-14-34-07.txt --ignore_unsupported_joints
python mujoco_converter.py --xml_model_path ./xml/floor-5506-10-1-01-12-44-00.xml  --config_path ./xml/floor-5506-10-1-01-12-44-00.txt --ignore_unsupported_joints

2. Run PPO (forward & goal reaching)

CUDA_VISIBLE_DEVICES=2 python train_ppo.py --env unimal_0
CUDA_VISIBLE_DEVICES=2 python train_ppo.py --env unimal_0_run

• metamorph
• XML filies are available:

# Install gdown
pip install gdown
# Download data
gdown 1LyKYTCevnqWrDle1LTBMlBF58RmCjSzM
# Unzip
unzip unimals_100.zip