Add MaMuJoCo (Multi-agent mujoco) Environments

docs/envs/MaMuJoCo/index.md

@@ -0,0 +1,34 @@
+---
+firstpage:
+lastpage:
+---
+
+
+## MaMuJoCo (Multi-Agent MuJoCo)
+
+These environments were introduced in ["FACMAC: Factored Multi-Agent Centralised Policy Gradients"](https://arxiv.org/abs/2003.06709)
+
+There are 2 types of Environments, included (1) multi-agent factorizations of [Gymansium/MuJoCo](https://gymnasium.farama.org/environments/mujoco/) tasks and (2) new complex MuJoCo tasks meant to me solved with multi-agent Algorithms
+
+This Represents the first, easy to use Framework for research of agent factorization
+
+obb
+[ant]
+
+### API
+
+MaMuJoCo uses the [PettingZoo.ParallelAPI](https://pettingzoo.farama.org/api/parallel/), but also supports a few extra functions
+- MaMuJoCo.map_local_actions_to_global_action
+- MaMuJoCo.map_global_action_to_local_actions
+- MaMuJoCo.map_global_state_to_local_observations
+- MaMuJoCo.map_local_observation_to_global_state (NOT IMPLEMENTED)
+- obsk.get_parts_and_edges
+
+```{raw} html
+    :file: list.html
+```
+
+```{toctree}
+:hidden:
+ma_ant.md
+```

docs/index.md

@@ -18,6 +18,7 @@ content/multi-goal_api
 envs/fetch/index
 envs/hand/index
 envs/hand_touch/index
+envs/MaMuJoCo/index
 ```
 
 ```{toctree}

gymnasium_robotics/envs/__init__.py

@@ -28,3 +28,4 @@
     MujocoPyHandPenTouchSensorsEnv,
 )
 from gymnasium_robotics.envs.hand.reach import MujocoHandReachEnv, MujocoPyHandReachEnv
+from gymnasium_robotics.envs.multiagent_mujoco.mujoco_multi import MaMuJoCo

gymnasium_robotics/envs/multiagent_mujoco/__init__.py

@@ -0,0 +1,4 @@
+from .coupled_half_cheetah import CoupledHalfCheetah
+from .manyagent_ant import ManyAgentAntEnv
+from .manyagent_swimmer import ManyAgentSwimmerEnv
+from .mujoco_multi import MultiAgentMujocoEnv

gymnasium_robotics/envs/multiagent_mujoco/assets/coupled_half_cheetah.xml

@@ -0,0 +1,140 @@
+<!-- Cheetah Model
+    The state space is populated with joints in the order that they are
+    defined in this file. The actuators also operate on joints.
+    State-Space (name/joint/parameter):
+        - rootx     slider      position (m)
+        - rootz     slider      position (m)
+        - rooty     hinge       angle (rad)
+        - bthigh    hinge       angle (rad)
+        - bshin     hinge       angle (rad)
+        - bfoot     hinge       angle (rad)
+        - fthigh    hinge       angle (rad)
+        - fshin     hinge       angle (rad)
+        - ffoot     hinge       angle (rad)
+        - rootx     slider      velocity (m/s)
+        - rootz     slider      velocity (m/s)
+        - rooty     hinge       angular velocity (rad/s)
+        - bthigh    hinge       angular velocity (rad/s)
+        - bshin     hinge       angular velocity (rad/s)
+        - bfoot     hinge       angular velocity (rad/s)
+        - fthigh    hinge       angular velocity (rad/s)
+        - fshin     hinge       angular velocity (rad/s)
+        - ffoot     hinge       angular velocity (rad/s)
+    Actuators (name/actuator/parameter):
+        - bthigh    hinge       torque (N m)
+        - bshin     hinge       torque (N m)
+        - bfoot     hinge       torque (N m)
+        - fthigh    hinge       torque (N m)
+        - fshin     hinge       torque (N m)
+        - ffoot     hinge       torque (N m)
+-->
+<mujoco model="cheetah">
+  <compiler angle="radian" coordinate="local" inertiafromgeom="true" settotalmass="14"/>
+  <default>
+    <joint armature=".1" damping=".01" limited="true" solimplimit="0 .8 .03" solreflimit=".02 1" stiffness="8"/>
+    <geom conaffinity="0" condim="3" contype="1" friction=".4 .1 .1" rgba="0.8 0.6 .4 1" solimp="0.0 0.8 0.01" solref="0.02 1"/>
+    <motor ctrllimited="true" ctrlrange="-1 1"/>
+  </default>
+  <size nstack="300000" nuser_geom="1"/>
+  <option gravity="0 0 -9.81" timestep="0.01"/>
+  <asset>
+    <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>
+    <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
+    <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
+    <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
+    <material name="geom" texture="texgeom" texuniform="true"/>
+  </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" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane"/>
+    <body name="torso" pos="0 -1 .7">
+      <site name="t1" pos="0.0 0 0" size="0.1"/>
+      <camera name="track" mode="trackcom" pos="0 -3 0.3" xyaxes="1 0 0 0 0 1"/>
+      <joint armature="0" axis="1 0 0" damping="0" limited="false" name="rootx" pos="0 0 0" stiffness="0" type="slide"/>
+      <joint armature="0" axis="0 0 1" damping="0" limited="false" name="rootz" pos="0 0 0" stiffness="0" type="slide"/>
+      <joint armature="0" axis="0 1 0" damping="0" limited="false" name="rooty" pos="0 0 0" stiffness="0" type="hinge"/>
+      <geom fromto="-.5 0 0 .5 0 0" name="torso" size="0.046" type="capsule"/>
+      <geom axisangle="0 1 0 .87" name="head" pos=".6 0 .1" size="0.046 .15" type="capsule"/>
+      <!-- <site name='tip'  pos='.15 0 .11'/>-->
+      <body name="bthigh" pos="-.5 0 0">
+        <joint axis="0 1 0" damping="6" name="bthigh" pos="0 0 0" range="-.52 1.05" stiffness="240" type="hinge"/>
+        <geom axisangle="0 1 0 -3.8" name="bthigh" pos=".1 0 -.13" size="0.046 .145" type="capsule"/>
+        <body name="bshin" pos=".16 0 -.25">
+          <joint axis="0 1 0" damping="4.5" name="bshin" pos="0 0 0" range="-.785 .785" stiffness="180" type="hinge"/>
+          <geom axisangle="0 1 0 -2.03" name="bshin" pos="-.14 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .15" type="capsule"/>
+          <body name="bfoot" pos="-.28 0 -.14">
+            <joint axis="0 1 0" damping="3" name="bfoot" pos="0 0 0" range="-.4 .785" stiffness="120" type="hinge"/>
+            <geom axisangle="0 1 0 -.27" name="bfoot" pos=".03 0 -.097" rgba="0.9 0.6 0.6 1" size="0.046 .094" type="capsule"/>
+          </body>
+        </body>
+      </body>
+      <body name="fthigh" pos=".5 0 0">
+        <joint axis="0 1 0" damping="4.5" name="fthigh" pos="0 0 0" range="-1 .7" stiffness="180" type="hinge"/>
+        <geom axisangle="0 1 0 .52" name="fthigh" pos="-.07 0 -.12" size="0.046 .133" type="capsule"/>
+        <body name="fshin" pos="-.14 0 -.24">
+          <joint axis="0 1 0" damping="3" name="fshin" pos="0 0 0" range="-1.2 .87" stiffness="120" type="hinge"/>
+          <geom axisangle="0 1 0 -.6" name="fshin" pos=".065 0 -.09" rgba="0.9 0.6 0.6 1" size="0.046 .106" type="capsule"/>
+          <body name="ffoot" pos=".13 0 -.18">
+            <joint axis="0 1 0" damping="1.5" name="ffoot" pos="0 0 0" range="-.5 .5" stiffness="60" type="hinge"/>
+            <geom axisangle="0 1 0 -.6" name="ffoot" pos=".045 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .07" type="capsule"/>
+          </body>
+        </body>
+      </body>
+    </body>
+    <!-- second cheetah definition -->
+    <body name="torso2" pos="0 1 .7">
+      <site name="t2" pos="0 0 0" size="0.1"/>
+      <camera name="track2" mode="trackcom" pos="0 -3 0.3" xyaxes="1 0 0 0 0 1"/>
+      <joint armature="0" axis="1 0 0" damping="0" limited="false" name="rootx2" pos="0 0 0" stiffness="0" type="slide"/>
+      <joint armature="0" axis="0 0 1" damping="0" limited="false" name="rootz2" pos="0 0 0" stiffness="0" type="slide"/>
+      <joint armature="0" axis="0 1 0" damping="0" limited="false" name="rooty2" pos="0 0 0" stiffness="0" type="hinge"/>
+      <geom fromto="-.5 0 0 .5 0 0" name="torso2" size="0.046" type="capsule"/>
+      <geom axisangle="0 1 0 .87" name="head2" pos=".6 0 .1" size="0.046 .15" type="capsule"/>
+      <!-- <site name='tip'  pos='.15 0 .11'/>-->
+      <body name="bthigh2" pos="-.5 0 0">
+        <joint axis="0 1 0" damping="6" name="bthigh2" pos="0 0 0" range="-.52 1.05" stiffness="240" type="hinge"/>
+        <geom axisangle="0 1 0 -3.8" name="bthigh2" pos=".1 0 -.13" size="0.046 .145" type="capsule"/>
+        <body name="bshin2" pos=".16 0 -.25">
+          <joint axis="0 1 0" damping="4.5" name="bshin2" pos="0 0 0" range="-.785 .785" stiffness="180" type="hinge"/>
+          <geom axisangle="0 1 0 -2.03" name="bshin2" pos="-.14 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .15" type="capsule"/>
+          <body name="bfoot2" pos="-.28 0 -.14">
+            <joint axis="0 1 0" damping="3" name="bfoot2" pos="0 0 0" range="-.4 .785" stiffness="120" type="hinge"/>
+            <geom axisangle="0 1 0 -.27" name="bfoot2" pos=".03 0 -.097" rgba="0.9 0.6 0.6 1" size="0.046 .094" type="capsule"/>
+          </body>
+        </body>
+      </body>
+      <body name="fthigh2" pos=".5 0 0">
+        <joint axis="0 1 0" damping="4.5" name="fthigh2" pos="0 0 0" range="-1 .7" stiffness="180" type="hinge"/>
+        <geom axisangle="0 1 0 .52" name="fthigh2" pos="-.07 0 -.12" size="0.046 .133" type="capsule"/>
+        <body name="fshin2" pos="-.14 0 -.24">
+          <joint axis="0 1 0" damping="3" name="fshin2" pos="0 0 0" range="-1.2 .87" stiffness="120" type="hinge"/>
+          <geom axisangle="0 1 0 -.6" name="fshin2" pos=".065 0 -.09" rgba="0.9 0.6 0.6 1" size="0.046 .106" type="capsule"/>
+          <body name="ffoot2" pos=".13 0 -.18">
+            <joint axis="0 1 0" damping="1.5" name="ffoot2" pos="0 0 0" range="-.5 .5" stiffness="60" type="hinge"/>
+            <geom axisangle="0 1 0 -.6" name="ffoot2" pos=".045 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .07" type="capsule"/>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+  <tendon>
+    <spatial name="tendon1" width="0.05" rgba=".95 .3 .3 1" limited="true" range="1.5 3.5" stiffness="0.1">
+        <site site="t1"/>
+        <site site="t2"/>
+    </spatial>
+  </tendon>-
+  <actuator>
+    <motor gear="120" joint="bthigh" name="bthigh"/>
+    <motor gear="90" joint="bshin" name="bshin"/>
+    <motor gear="60" joint="bfoot" name="bfoot"/>
+    <motor gear="120" joint="fthigh" name="fthigh"/>
+    <motor gear="60" joint="fshin" name="fshin"/>
+    <motor gear="30" joint="ffoot" name="ffoot"/>
+    <motor gear="120" joint="bthigh2" name="bthigh2"/>
+    <motor gear="90" joint="bshin2" name="bshin2"/>
+    <motor gear="60" joint="bfoot2" name="bfoot2"/>
+    <motor gear="120" joint="fthigh2" name="fthigh2"/>
+    <motor gear="60" joint="fshin2" name="fshin2"/>
+    <motor gear="30" joint="ffoot2" name="ffoot2"/>
+  </actuator>
+</mujoco>

gymnasium_robotics/envs/multiagent_mujoco/assets/manyagent_ant.xml

@@ -0,0 +1,134 @@
+<mujoco model="ant">
+  <size nconmax="200"/>
+  <compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
+  <option integrator="RK4" timestep="0.01"/>
+  <custom>
+    <numeric data="0.0 0.0 0.55 1.0 0.0 0.0 0.0 0.0 1.0 0.0 -1.0 0.0 -1.0 0.0 1.0" name="init_qpos"/>
+  </custom>
+  <default>
+    <joint armature="1" damping="1" limited="true"/>
+    <geom conaffinity="0" condim="3" density="5.0" friction="1 0.5 0.5" margin="0.01" rgba="0.8 0.6 0.4 1"/>
+  </default>
+  <asset>
+    <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>
+    <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
+    <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
+    <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
+    <material name="geom" texture="texgeom" texuniform="true"/>
+  </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" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane"/>
+    <body name="torso" pos="0 0 0.75">
+      <camera name="track" mode="trackcom" pos="0 -3 0.3" xyaxes="1 0 0 0 0 1"/>
+      <!--<geom name="torso_geom" pos="0 0 0" size="0.25" type="sphere"/>-->
+      <joint armature="0" damping="0" limited="false" margin="0.01" name="root" pos="0 0 0" type="free"/>
+      <body name="front_left_leg" pos="0 0 0">
+        <geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="aux_1_geom" size="0.08" type="capsule"/>
+        <body name="aux_1" pos="0.2 0.2 0">
+          <joint axis="0 0 1" name="hip_1" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
+          <geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="left_leg_geom" size="0.08" type="capsule"/>
+          <body pos="0.2 0.2 0">
+            <joint axis="-1 1 0" name="ankle_1" pos="0.0 0.0 0.0" range="30 70" type="hinge"/>
+            <geom fromto="0.0 0.0 0.0 0.4 0.4 0.0" name="left_ankle_geom" size="0.08" type="capsule"/>
+          </body>
+        </body>
+      </body>
+      <body name="right_back_leg" pos="0 0 0">
+        <geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="aux_4_geom" size="0.08" type="capsule"/>
+        <body name="aux_4" pos="0.2 -0.2 0">
+          <joint axis="0 0 1" name="hip_4" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
+          <geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="rightback_leg_geom" size="0.08" type="capsule"/>
+          <body pos="0.2 -0.2 0">
+            <joint axis="1 1 0" name="ankle_4" pos="0.0 0.0 0.0" range="30 70" type="hinge"/>
+            <geom fromto="0.0 0.0 0.0 0.4 -0.4 0.0" name="fourth_ankle_geom" size="0.08" type="capsule"/>
+          </body>
+        </body>
+      </body>
+      <body name="midx" pos="0.0 0 0">
+        <geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
+        <!--<joint axis="0 0 1" limited="true" name="rot2" pos="0 0 0" range="-100 100" type="hinge"/>-->
+        <body name="front_right_legx" pos="-1 0 0">
+          <geom fromto="0.0 0.0 0.0 0.0 0.2 0.0" name="aux_2_geomx" size="0.08" type="capsule"/>
+          <body name="aux_2x" pos="0.0 0.2 0">
+            <joint axis="0 0 1" name="hip_2x" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
+            <geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="right_leg_geomx" size="0.08" type="capsule"/>
+            <body pos="-0.2 0.2 0">
+              <joint axis="1 1 0" name="ankle_2x" pos="0.0 0.0 0.0" range="-70 -30" type="hinge"/>
+              <geom fromto="0.0 0.0 0.0 -0.4 0.4 0.0" name="right_ankle_geomx" size="0.08" type="capsule"/>
+            </body>
+          </body>
+        </body>
+        <body name="back_legx" pos="-1 0 0">
+          <geom fromto="0.0 0.0 0.0 0.0 -0.2 0.0" name="aux_3_geomx" size="0.08" type="capsule"/>
+          <body name="aux_3x" pos="0.0 -0.2 0">
+            <joint axis="0 0 1" name="hip_3x" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
+            <geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="back_leg_geomx" size="0.08" type="capsule"/>
+            <body pos="-0.2 -0.2 0">
+              <joint axis="-1 1 0" name="ankle_3x" pos="0.0 0.0 0.0" range="-70 -30" type="hinge"/>
+              <geom fromto="0.0 0.0 0.0 -0.4 -0.4 0.0" name="third_ankle_geomx" size="0.08" type="capsule"/>
+            </body>
+          </body>
+        </body>
+        <body name="mid" pos="-1 0 0">
+          <geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
+          <!--<joint axis="0 0 1" limited="true" name="rot2" pos="0 0 0" range="-100 100" type="hinge"/>-->
+          <!--<body name="front_right_leg" pos="-1 0 0">
+            <geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="aux_2_geom" size="0.08" type="capsule"/>
+            <body name="aux_2" pos="-0.2 0.2 0">
+              <joint axis="0 0 1" name="hip_2" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
+              <geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="right_leg_geom" size="0.08" type="capsule"/>
+              <body pos="-0.2 0.2 0">
+                <joint axis="1 1 0" name="ankle_2" pos="0.0 0.0 0.0" range="-70 -30" type="hinge"/>
+                <geom fromto="0.0 0.0 0.0 -0.4 0.4 0.0" name="right_ankle_geom" size="0.08" type="capsule"/>
+              </body>
+            </body>
+          </body>
+          <body name="back_leg" pos="-1 0 0">
+            <geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="aux_3_geom" size="0.08" type="capsule"/>
+            <body name="aux_3" pos="-0.2 -0.2 0">
+              <joint axis="0 0 1" name="hip_3" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
+              <geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="back_leg_geom" size="0.08" type="capsule"/>
+              <body pos="-0.2 -0.2 0">
+                <joint axis="-1 1 0" name="ankle_3" pos="0.0 0.0 0.0" range="-70 -30" type="hinge"/>
+                <geom fromto="0.0 0.0 0.0 -0.4 -0.4 0.0" name="third_ankle_geom" size="0.08" type="capsule"/>
+              </body>
+            </body>
+          </body>-->
+          <body name="front_right_leg" pos="-1 0 0">
+            <geom fromto="0.0 0.0 0.0 0.0 0.2 0.0" name="aux_2_geom" size="0.08" type="capsule"/>
+            <body name="aux_2" pos="0.0 0.2 0">
+              <joint axis="0 0 1" name="hip_2" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
+              <geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="right_leg_geom" size="0.08" type="capsule"/>
+              <body pos="-0.2 0.2 0">
+                <joint axis="1 1 0" name="ankle_2" pos="0.0 0.0 0.0" range="-70 -30" type="hinge"/>
+                <geom fromto="0.0 0.0 0.0 -0.4 0.4 0.0" name="right_ankle_geom" size="0.08" type="capsule"/>
+              </body>
+            </body>
+          </body>
+          <body name="back_leg" pos="-1 0 0">
+            <geom fromto="0.0 0.0 0.0 0.0 -0.2 0.0" name="aux_3_geom" size="0.08" type="capsule"/>
+            <body name="aux_3" pos="0.0 -0.2 0">
+              <joint axis="0 0 1" name="hip_3" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
+              <geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="back_leg_geom" size="0.08" type="capsule"/>
+              <body pos="-0.2 -0.2 0">
+                <joint axis="-1 1 0" name="ankle_3" pos="0.0 0.0 0.0" range="-70 -30" type="hinge"/>
+                <geom fromto="0.0 0.0 0.0 -0.4 -0.4 0.0" name="third_ankle_geom" size="0.08" type="capsule"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+  <actuator>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_4" gear="150"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_4" gear="150"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_1" gear="150"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_1" gear="150"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_2" gear="150"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_2" gear="150"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_3" gear="150"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_3" gear="150"/>
+  </actuator>
+</mujoco>