def __init__(self): RoboschoolForwardWalkerMujocoXML.__init__(self, 'hopper.xml', 'torso', action_dim=3, obs_dim=15, power=0.4)
def __init__(self): RoboschoolForwardWalkerMujocoXML.__init__(self, 'half_cheetah.xml', 'torso', action_dim=6, obs_dim=26, power=0.5)
def __init__(self): RoboschoolForwardWalkerMujocoXML.__init__(self, "qant.xml", "torso", action_dim=8, obs_dim=28 - 3, power=2.5 / 100.0 / 10)
def __init__(self): self.friction = 1.4 with self.modify_xml('hopper.xml') as tree: for elem in tree.iterfind('default/geom'): elem.set('friction', str(self.friction) + ' .1 .1') RoboschoolForwardWalkerMujocoXML.__init__(self, self.model_xml, 'torso', action_dim=3, obs_dim=15, power=0.75)
def __init__(self): self.density = 500 with self.modify_xml('hopper.xml') as tree: for elem in tree.iterfind('worldbody/body/geom'): elem.set('density', str(self.density)) RoboschoolForwardWalkerMujocoXML.__init__(self, self.model_xml, 'torso', action_dim=3, obs_dim=15, power=0.75)
def __init__(self): self.friction = 0.2 with self.modify_xml('half_cheetah.xml') as tree: for elem in tree.iterfind('default/geom'): elem.set('friction', str(self.friction) + ' .1 .1') RoboschoolForwardWalkerMujocoXML.__init__(self, self.model_xml, 'torso', action_dim=6, obs_dim=26, power=0.9)
def __init__(self, model_xml=os.path.join(os.path.dirname(__file__), 'humanoid_mocap.xml')): RoboschoolForwardWalkerMujocoXML.__init__(self, model_xml, 'torso', action_dim=56, obs_dim=44, power=0.41) # 56 joints, ? of them important for walking (hip, knee), others may as well be turned off, 17/4 = 4.25 # TODO fix these cost parameters self.electricity_cost = 4.25 * RoboschoolForwardWalkerMujocoXML.electricity_cost self.stall_torque_cost = 4.25 * RoboschoolForwardWalkerMujocoXML.stall_torque_cost self.initial_z = 0.8
def robot_specific_reset(self): RoboschoolForwardWalkerMujocoXML.robot_specific_reset(self) # self.motor_names = [ # 'upperneck_x', 'upperneck_y', 'upperneck_z', 'rfemur_x', 'rfemur_y', 'rfemur_z', 'lradius_x', 'rwrist_y', # 'lthumb_x', 'lthumb_z', 'lfemur_x', 'lfemur_y', 'lfemur_z', 'rthumb_x', 'rthumb_z', 'lhand_x', 'lhand_z', # 'rfingers_x', 'lowerback_x', 'lowerback_y', 'lowerback_z', 'rtoes_x', 'lfingers_x', 'head_x', 'head_y', # 'head_z', 'ltibia_x', 'ltoes_x', 'lhumerus_x', 'lhumerus_y', 'lhumerus_z', 'thorax_x', 'thorax_y', # 'thorax_z', 'lowerneck_x', 'lowerneck_y', 'lowerneck_z', 'upperback_x', 'upperback_y', 'upperback_z', # 'rtibia_x', 'rradius_x', 'rfoot_x', 'rfoot_z', 'rhumerus_x', 'rhumerus_y', 'rhumerus_z', 'lfoot_x', # 'lfoot_z', 'lwrist_y', 'rhand_x', 'rhand_z', 'lclavicle_y', 'lclavicle_z', 'rclavicle_y', 'rclavicle_z'] self.motor_names = [ 'upperneck_x', 'upperneck_y', 'upperneck_z', 'rfemur_x', 'rfemur_y', 'rfemur_z', 'lfemur_x', 'lfemur_y', 'lfemur_z', 'lowerback_x', 'lowerback_y', 'lowerback_z', 'rtoes_x', 'ltibia_x', 'ltoes_x', 'thorax_x', 'thorax_y', 'thorax_z', 'lowerneck_x', 'lowerneck_y', 'lowerneck_z', 'upperback_x', 'upperback_y', 'upperback_z', 'rtibia_x', 'rfoot_x', 'rfoot_z', 'lfoot_x', 'lfoot_z', ] self.motor_power = [100] * len(self.motor_names) self.motors = [self.jdict[n] for n in self.motor_names] self.humanoid_task()