def __init__(self):
URDFBasedRobot.__init__(
self,
model_urdf='../../../../urdf/normal/pendulum_normal.urdf',
robot_name='pendulum_normal',
action_dim=1,
obs_dim=2)
def __init__(self):
URDFBasedRobot.__init__(
self,
model_urdf='../../../../urdf/cart/pendulum_cart.urdf',
robot_name='pendulum_cart',
action_dim=1,
obs_dim=5)
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):
URDFBasedRobot.__init__(
self,
'../robots/peg/peg_description/cuboid_peg.urdf',
'cart',
action_dim=3,
obs_dim=9,
basePosition=[0, 0, 0.0235],
fixed_base=True)
def __init__(self, random_yaw=False, random_lean=False, **kwargs):
ParkourRobot.__init__(self, **kwargs)
URDFBasedRobot.__init__(self,
'biped.urdf',
'base',
action_dim=14,
obs_dim=28,
basePosition=(0, 0, 1))
self.random_yaw = random_yaw
self.random_lean = random_lean
def __init__(self,
base_position=(0, -0.65, 0.625),
use_IK=False,
control_orientation=True,
shelf=False):
plane_path = os.path.join(pybullet_data.getDataPath(), "plane.urdf")
plane_kwargs = {
'useFixedBase': True,
'basePosition': [0, 0, 0],
'baseOrientation': [0, 0, 0, 1]
}
if not shelf:
table_path = os.path.join(self.asset_path(),
"things/table/table.urdf")
else:
table_path = os.path.join(self.asset_path(),
"things/table/table_shelf.urdf")
table_kwargs = {
'useFixedBase': True,
'basePosition': [0, 0, 0],
'baseOrientation': [0, 0, 0, 1]
}
target_path = os.path.join(self.asset_path(),
"things/sphere_small_red.urdf")
target_kwargs = {
'useFixedBase': True,
'basePosition': [0, 0, 0.8],
'baseOrientation': [0, 0, 0, 1]
}
URDFBasedRobot.__init__(self,
model_urdf='franka_panda/panda_model.urdf',
robot_name='panda',
action_dim=7,
obs_dim=22,
basePosition=base_position,
baseOrientation=[0, 0, 0.7071068, 0.7071068],
fixed_base=True,
self_collision=True,
additional_urdfs=[(plane_path, plane_kwargs),
(table_path, table_kwargs),
(target_path, target_kwargs)
])
self._joint_name_to_ids = {}
self.robot_id = 0
self._use_IK = use_IK
self._control_orientation = control_orientation
self.end_eff_idx = 9
self._workspace_lim = [[0.3, 0.65], [-0.3, 0.3], [0.65, 1.5]]
self._eu_lim = [[-m.pi, m.pi], [-m.pi, m.pi], [-m.pi, m.pi]]
self.action_dim = 7
def __init__(self, random_yaw=False, random_lean=False, **kwargs):
# quadruped = p.loadURDF("laikago/laikago_toes.urdf", [0, 0, .5], [0, 0.5, 0.5, 0],
# flags=urdfFlags,
# useFixedBase=False)
ParkourRobot.__init__(self, **kwargs)
URDFBasedRobot.__init__(self,
'laikago/laikago_toes.urdf',
'base',
action_dim=16,
obs_dim=60)
self.last_action = (0, ) * 16
self.action_difference = 0 # l2 norm between successive actions -> important for position control
self.positions = (0, ) * 16
self.torques = (0, ) * 16
self.velocities = (0, ) * 16
def __init__(self, add_feature='pose', window_size=5):
self.add_feature = add_feature
self.window_size = window_size
if self.add_feature in 'force':
self.obs_dim = 5
elif self.add_feature in 'force_window':
self.obs_dim = 2 * window_size + 3
else:
self.obs_dim = 4
URDFBasedRobot.__init__(
self,
'../robots/gripper/gripper_description/simple_gripper.urdf',
'cart',
action_dim=4,
obs_dim=self.obs_dim,
basePosition=[0, 0, 0.025],
fixed_base=True,
self_collision=False)
self.max_obs = np.zeros((self.obs_dim, ))
self.min_obs = np.zeros((self.obs_dim, ))