How to modify Mujoco environments?

[trav1s]

I am working on the environment InvertedPendulumMuJoCoEnv-v0 and would like to change some parameters, such as the size/mass of the pole. I traced the code, and it seems the relevant parameters are in pybulletgym/envs/assets/mjcf/inverted_pendulum.xml. However, after editing the xml, it doesn't seem like anything changes in simulation. What am I missing? Is there some procedure to make the modifications take effect?

Thank you so much for your work, I really appreciate it!

[benelot]

Hi,

I am sorry I never answered your question, I must have missed it! There is a bigger, underlying problem, which is that not all definitions from within the xml are loaded to the simulation. This is due to the xml parser being reimplemented in pybullet and I am relying on that one. For this reason, I can not actually do much for you. You should open an issue at the pybulet repository requesting the option to get all those parameters either implemented or at least available to the pybullet environment.