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()