def __init__(self):
WalkerBase.__init__(self, power=0.90)
MJCFBasedRobot.__init__(self,
"half_cheetah.xml",
"torso",
action_dim=6,
obs_dim=26)
def __init__(self):
WalkerBase.__init__(self, power=0.75)
MJCFBasedRobot.__init__(self,
"hopper.xml",
"torso",
action_dim=3,
obs_dim=17)
def __init__(self):
WalkerBase.__init__(self, power=0.40)
MJCFBasedRobot.__init__(self,
"walker2d.xml",
"torso",
action_dim=6,
obs_dim=22 + 1)
def __init__(self):
WalkerBase.__init__(self, power=2.5)
MJCFBasedRobot.__init__(self,
"ant.xml",
"torso",
action_dim=8,
obs_dim=28 + 1)
def __init__(self):
WalkerBase.__init__(self, power=2.9)
URDFBasedRobot.__init__(
self,
"atlas/atlas_description/atlas_v4_with_multisense.urdf",
"pelvis",
action_dim=30,
obs_dim=70)
def __init__(self):
WalkerBase.__init__(self, power=0.90)
MJCFBasedRobot.__init__(self,
"half_cheetah.xml",
"torso",
action_dim=6 + 1,
obs_dim=26 + 1)
self.aggressive_cube = None
self.frame = 0
def __init__(self):
WalkerBase.__init__(self, power=0.40)
MJCFBasedRobot.__init__(self,
"walker2d.xml",
"torso",
action_dim=6 + 1,
obs_dim=22 + 1)
self.aggressive_cube = None
self.frame = 0
def __init__(self):
WalkerBase.__init__(self, power=0.75)
MJCFBasedRobot.__init__(self,
"hopper.xml",
"torso",
action_dim=3 + 1,
obs_dim=15 + 1)
self.aggressive_cube = None
self.frame = 0
def __init__(self):
WalkerBase.__init__(self, power=2.5)
MJCFBasedRobot.__init__(self,
"ant.xml",
"torso",
action_dim=8 + 1,
obs_dim=28 + 1)
self.aggressive_cube = None
self.frame = 0
def __init__(self, random_yaw=False, random_lean=False):
WalkerBase.__init__(self, power=0.41)
MJCFBasedRobot.__init__(self,
'humanoid_symmetric.xml',
'torso',
action_dim=17,
obs_dim=44)
# 17 joints, 4 of them important for walking (hip, knee), others may as well be turned off, 17/4 = 4.25
self.random_yaw = random_yaw
self.random_lean = random_lean
def __init__(self):
WalkerBase.__init__(self, power=0.90)
MJCFBasedRobot.__init__(self,
"half_cheetah.xml",
"torso",
action_dim=6,
obs_dim=26)
self.aggressive_cube = None
self.frame = 0
self.reset_count = 0
self.cube_masses = np.repeat(
np.linspace(0.1, 2.2, 50),
20) # [0.1 (10 times), 0.15 (10 times), ..., 1.05, 1.05]
def __init__(self, random_yaw=False, random_lean=False):
WalkerBase.__init__(self, power=0.41)
MJCFBasedRobot.__init__(self,
'humanoid_symmetric.xml',
'torso',
action_dim=17,
obs_dim=44)
# 17 joints, 4 of them important for walking (hip, knee), others may as well be turned off, 17/4 = 4.25
self.random_yaw = random_yaw
self.random_lean = random_lean
self.aggressive_cube = None
self.frame = 0
self.reset_count = 0
self.cube_masses = np.repeat(
np.linspace(0.1, 2.2, 50),
20) # [0.1 (10 times), 0.15 (10 times), ..., 1.05, 1.05]
def __init__(self):
WalkerBase.__init__(self, power=2.5)
MJCFBasedRobot.__init__(self,
"ant.xml",
"torso",
action_dim=8,
obs_dim=28)
self.aggressive_cube = None
self.frame = 0
self.reset_count = 0
# self.cube_masses = np.repeat(np.arange(0.1,1.1,0.05),10) # [0.1 (10 times), 0.15 (10 times), ..., 1.05, 1.05]
self.cube_masses = np.repeat(
np.arange(0.1, 2.2, 1),
3) # [0.1 (10 times), 0.15 (10 times), ..., 1.05, 1.05]
self.cube_masses = np.repeat(
np.linspace(0.1, 6.2, 50),
20) # [0.1 (10 times), 0.15 (10 times), ..., 1.05, 1.05]