def __init__(self, robot=None, render=False):
if robot is None:
self.robot = Humanoid()
else:
self.robot = robot
WalkerBaseBulletEnv.__init__(self, self.robot, render)
self.electricity_cost = 4.25 * WalkerBaseBulletEnv.electricity_cost
self.stall_torque_cost = 4.25 * WalkerBaseBulletEnv.stall_torque_cost
def __init__(self, robot=Humanoid()):
self.robot = robot
WalkerBaseBulletEnv.__init__(self, self.robot)
self.electricity_cost = 4.25 * WalkerBaseBulletEnv.electricity_cost
self.stall_torque_cost = 4.25 * WalkerBaseBulletEnv.stall_torque_cost
def __init__(self, robot=Humanoid(), render=False):
self.robot = robot
WalkerBaseBulletEnv.__init__(self, self.robot, render)
print(
"PyBullet Humanoid-v5: reward = progress + 0.75 + (jexcess * -10.0) + (nJLimits * -0.1) + (angleoffset * -0.1): init_range [-0.03,0.03]"
)
def __init__(self, robot=Humanoid(), render=False): self.robot = robot WalkerBaseBulletEnv.__init__(self, self.robot, render)
def __init__(self, render=False, d=None, r_init=None, d_angle=False):
self.robot = Humanoid(r_init, d_angle)
WalkerBaseBulletEnv.__init__(self, self.robot, render)
self.electricity_cost = 4.25 * WalkerBaseBulletEnv.electricity_cost
self.stall_torque_cost = 4.25 * WalkerBaseBulletEnv.stall_torque_cost