Gymnasium: [Question] Problems with Collisions in Pusher-v4

Question

I’m testing out the RL training with cleanRL, but I noticed in the video provided below that the robotic arm goes through both the table and the object it is supposed to be pushing.

The code below also has a similar behaviour:

import gymnasium as gym
env = gym.make("Pusher-v4", render_mode="human")
observation, info = env.reset(seed=39)
for _ in range(1000):
   action = env.action_space.sample()  # this is where you would insert your policy
   observation, reward, terminated, truncated, info = env.step(action)

   if terminated or truncated:
      observation, info = env.reset()

env.close()

Any idea what is going on or what might be missing?

System info

Installed via pip version 0.29.1

Python 3.8.12
Gymnasium 0.29.1
Mujoco 3.1.2

https://github.com/Farama-Foundation/Gymnasium/assets/86664284/0e28d81f-8633-4a78-a716-4f244dd1ff32

About this issue

Original URL
State: open
Created 4 months ago
Comments: 39 (4 by maintainers)

Most upvoted comments

@HernandezEduin I’m guessing you using the pretrained model to test with this. Once we have the final xml model complete, it would be helpful to retrain the agent for scratch on the new model and check that the agent will learn the correct model

pseudo-rnd-thoughts on Mar 21, 2024

I agree with the suggested change for version 4.

Normally, i would not agree with you, about changing the version 5 pusher, but because the bug is so critical and it was released in an alpha version of gymnasium we should fix it.

Kallinteris-Andreas on Mar 12, 2024

Okay, so I’ve tested it out with various versions of Mujoco and it the results are as follows:

mujoco==2.3.6 - working
mujoco==2.3.7 - working
mujoco==3.0.0 - not working
mujoco==3.0.1 - not working
mujoco==3.1.0 - not working
mujoco==3.1.1 - not working
mujoco==3.1.2 - not working
mujoco==3.1.3 - not working

The collisions stopped working with Ver. 3.0.0. I’ll report it soon to the Mujoco team.

HernandezEduin on Mar 11, 2024

@HernandezEduin also, if you have some example actions list for a fixed seed for the MuJoCo team to use, it would be helpful

pseudo-rnd-thoughts on Mar 8, 2024