def __init__(self, xml):
WalkerBase.__init__(self,
xml,
"torso",
action_dim=8,
obs_dim=28,
power=2.5)
def _robo_init(self, model_xml, robot_name, action_dim, obs_dim):
WalkerBase.__init__(self,
model_xml,
robot_name,
action_dim,
obs_dim,
power=0.40)
def __init__(self, xml, param, env, powercoeffs=[1., 1., 1.]):
self.step_num = 0
self.env = env
self.xml = xml
self.param = param
self.powercoeffs = powercoeffs
WalkerBase.__init__(self, xml, "torso", action_dim=6, obs_dim=22, power=0.40)
def __init__(self):
# change obs_dim from 22 to 23
WalkerBase.__init__(self,
"walker2d.xml",
"torso",
action_dim=6,
obs_dim=23,
power=0.40)
def __init__(self, xml, param, render=False):
self.param = param
WalkerBase.__init__(self,
xml,
"torso",
action_dim=6,
obs_dim=22,
power=0.40)
def __init__(self):
WalkerBase.__init__(
self,
"humanoid_symmetric_2.xml",
"torso",
action_dim=19,
obs_dim=44,
power=0.41,
)
def __init__(self):
WalkerBase.__init__(self,
getResourcePath() + "/Walker2d_five.xml",
"torso",
action_dim=4,
obs_dim=18,
power=0.40)
self.init_pos = [-0.86647779, -5.57969548, 4.56618282, -0.86647779]
self.init_vel = [-0.08985754, 2.59193943, -0.48066481, 1.88797459]
def __init__(self, xml, powercoeffs=[1., 1., 1.]):
self.step_num = 0
self.powercoeffs = powercoeffs
WalkerBase.__init__(self,
xml,
"torso",
action_dim=6,
obs_dim=22,
power=0.40)
def __init__(self, scale=1):
WalkerBase.__init__(self,
"ant.xml",
"torso",
action_dim=8,
obs_dim=30,
power=2.5)
self.walk_target_x = 0
self.walk_target_y = 0
self.SCALE = scale
def __init__(self, design=None, design_mode='24lr'): self.design_mode = design_mode self.design = design self._adapted_xml_file = tempfile.NamedTemporaryFile(delete=False, prefix='ant_', suffix='.xml') self._adapted_xml_filepath = self._adapted_xml_file.name file = self._adapted_xml_filepath self._adapted_xml_file.close() atexit.register(cleanup_func_for_tmp, self._adapted_xml_filepath) self.adapt_xml(self._adapted_xml_filepath, design) WalkerBase.__init__(self, file, "torso", action_dim=8, obs_dim=28, power=2.5)
def __init__(self, xml, param):
self.param = param
WalkerBase.__init__(self,
xml,
"torso",
action_dim=6,
obs_dim=22,
power=0.5)
self.height_using_knees = (
self.param["z0"] + self.param["z1"]) / 2 - self.param["z2"] + 0.1
def __init__(self):
WalkerBase.__init__(self,
"ant.xml",
"torso",
action_dim=8,
obs_dim=34,
power=2.5)
self.walk_target_x = 0
self.walk_target_y = 0
self.init_ball_pos = [0, 0, .25]
self.init_robot_pos = [0, -1.5, .5]
def __init__(self, xml, param, name, env, powercoeffs=[1., 1., 1.]):
self.step_num = 0
self.env = env
self.xml = xml
# remove private params
private_keys = []
for key in param:
if key.startswith("_"):
private_keys.append(key)
for key in private_keys:
del param[key]
self.param = param
self.name = name
self.powercoeffs = powercoeffs
self.sqrt2 = np.sqrt(2)
WalkerBase.__init__(self, xml, "torso", action_dim=8, obs_dim=28, power=2.5) # larger power? because we have larger bodies in variation. original = 2.5
def __init__(self):
self.p = None
self.camera_width = 256
self.camera_height = 256
self.camera_channel = 3
self.gravity = -9.8
super().__init__()
# Reset the robot XML file:
total_joints = 18
WalkerBase.__init__(self,
f'{os.getcwd()}/erl/envs/xmls/humanoid_symmetric.xml',
'torso',
action_dim=total_joints,
# 10 real numbers of basic information
# each joint has 2 real numbers (position, velocity)
# WxHxC from camera image
obs_dim=10 + total_joints*2 + self.camera_width*self.camera_height*self.camera_channel,
power=0.41)
def __init__(self, xml):
WalkerBase.__init__(
self, xml, "torso", action_dim=0, obs_dim=0, power=0.75
) # action_dim and obs_dim will be set automatically in function reset_spaces()
self.body_parts = None
