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=0.90)
MJCFBasedRobot.__init__(self,
"half_cheetah.xml",
"torso",
action_dim=6,
obs_dim=26)
def __init__(self):
WalkerBase.__init__(self, power=2.5)
MJCFBasedRobot.__init__(self,
"ant.xml",
"torso",
action_dim=8,
obs_dim=28 + 1)
def robot_specific_reset(self, bullet_client):
WalkerBase.robot_specific_reset(self, bullet_client)
self.motor_names = ["abdomen_z", "abdomen_y", "abdomen_x"]
self.motor_power = [100, 100, 100]
self.motor_names += ["right_hip_x", "right_hip_z", "right_hip_y", "right_knee"]
self.motor_power += [100, 100, 300, 200]
self.motor_names += ["left_hip_x", "left_hip_z", "left_hip_y", "left_knee"]
self.motor_power += [100, 100, 300, 200]
self.motor_names += ["right_shoulder1", "right_shoulder2", "right_elbow"]
self.motor_power += [75, 75, 75]
self.motor_names += ["left_shoulder1", "left_shoulder2", "left_elbow"]
self.motor_power += [75, 75, 75]
self.motors = [self.jdict[n] for n in self.motor_names]
if self.random_yaw:
position = [0,0,0]
orientation = [0,0,0]
yaw = self.np_random.uniform(low=-3.14, high=3.14)
if self.random_lean and self.np_random.randint(2) == 0:
if self.np_random.randint(2) == 0:
pitch = np.pi/2
position = [0, 0, 0.45]
else:
pitch = np.pi*3/2
position = [0, 0, 0.25]
roll = 0
orientation = [roll, pitch, yaw]
else:
position = [0, 0, 1.4]
orientation = [0, 0, yaw] # just face random direction, but stay straight otherwise
self.robot_body.reset_position(position)
self.robot_body.reset_orientation(p.getQuaternionFromEuler(orientation))
self.initial_z = 0.8
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=2.9)
URDFBasedRobot.__init__(
self,
"atlas/atlas_description/atlas_v4_with_multisense.urdf",
"pelvis",
action_dim=30,
obs_dim=70)
def robot_specific_reset(self, bullet_client):
WalkerBase.robot_specific_reset(self, bullet_client)
self.jdict["bthigh"].power_coef = 120.0
self.jdict["bshin"].power_coef = 90.0
self.jdict["bfoot"].power_coef = 60.0
self.jdict["fthigh"].power_coef = 140.0
self.jdict["fshin"].power_coef = 60.0
self.jdict["ffoot"].power_coef = 30.0
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 robot_specific_reset(self, bullet_client):
WalkerBase.robot_specific_reset(self, bullet_client)
self.frame = 0
if self.aggressive_cube:
self._p.resetBasePositionAndOrientation(
self.aggressive_cube.bodies[0], [-1.5, 0, 0.05], [0, 0, 0, 1])
else:
self.aggressive_cube = ObjectHelper.get_cube(
self._p, -1.5, 0, 0.05)
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 robot_specific_reset(self, bullet_client):
WalkerBase.robot_specific_reset(self, bullet_client)
self.motor_names = ["abdomen_z", "abdomen_y", "abdomen_x"]
self.motor_power = [100, 100, 100]
self.motor_names += [
"right_hip_x", "right_hip_z", "right_hip_y", "right_knee"
]
self.motor_power += [100, 100, 300, 200]
self.motor_names += [
"left_hip_x", "left_hip_z", "left_hip_y", "left_knee"
]
self.motor_power += [100, 100, 300, 200]
self.motor_names += [
"right_shoulder1", "right_shoulder2", "right_elbow"
]
self.motor_power += [75, 75, 75]
self.motor_names += ["left_shoulder1", "left_shoulder2", "left_elbow"]
self.motor_power += [75, 75, 75]
self.motors = [self.jdict[n] for n in self.motor_names]
if self.random_yaw:
position = [0, 0, 0]
orientation = [0, 0, 0]
yaw = self.np_random.uniform(low=-3.14, high=3.14)
if self.random_lean and self.np_random.randint(2) == 0:
if self.np_random.randint(2) == 0:
pitch = np.pi / 2
position = [0, 0, 0.45]
else:
pitch = np.pi * 3 / 2
position = [0, 0, 0.25]
roll = 0
orientation = [roll, pitch, yaw]
else:
position = [0, 0, 1.4]
orientation = [
0, 0, yaw
] # just face random direction, but stay straight otherwise
self.robot_body.reset_position(position)
self.robot_body.reset_orientation(
p.getQuaternionFromEuler(orientation))
self.initial_z = 0.8
self.frame = 0
if self.aggressive_cube:
self._p.resetBasePositionAndOrientation(
self.aggressive_cube.bodies[0], [-1.5, 0, 0.05], [0, 0, 0, 1])
self._p.changeDynamics(self.aggressive_cube.bodies[0],
-1,
mass=self.cube_masses[self.reset_count])
else:
self.aggressive_cube = ObjectHelper.get_cube(
self._p, -1.5, 0, 0.05)
self._p.changeDynamics(self.aggressive_cube.bodies[0],
-1,
mass=self.cube_masses[self.reset_count])
self.reset_count += 1
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 robot_specific_reset(self, bullet_client):
WalkerBase.robot_specific_reset(self, bullet_client)
for n in ["foot_joint", "foot_left_joint"]:
self.jdict[n].power_coef = 30.0
self.frame = 0
if self.aggressive_cube:
self._p.resetBasePositionAndOrientation(
self.aggressive_cube.bodies[0], [-1.5, 0, 0.05], [0, 0, 0, 1])
else:
self.aggressive_cube = ObjectHelper.get_cube(
self._p, -1.5, 0, 0.05)
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 robot_specific_reset(self, bullet_client):
WalkerBase.robot_specific_reset(self, bullet_client)
self.frame = 0
if self.aggressive_cube:
self._p.resetBasePositionAndOrientation(
self.aggressive_cube.bodies[0], [-1.5, 0, 0.05], [0, 0, 0, 1])
self._p.changeDynamics(self.aggressive_cube.bodies[0],
-1,
mass=self.cube_masses[self.reset_count])
else:
self.aggressive_cube = ObjectHelper.get_cube(
self._p, -1.5, 0, 0.05)
self._p.changeDynamics(self.aggressive_cube.bodies[0],
-1,
mass=self.cube_masses[self.reset_count])
self.reset_count += 1
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 robot_specific_reset(self, bullet_client):
WalkerBase.robot_specific_reset(self, bullet_client)
self.jdict["bthigh"].power_coef = 120.0
self.jdict["bshin"].power_coef = 90.0
self.jdict["bfoot"].power_coef = 60.0
self.jdict["fthigh"].power_coef = 140.0
self.jdict["fshin"].power_coef = 60.0
self.jdict["ffoot"].power_coef = 30.0
self.frame = 0
if self.aggressive_cube:
self._p.resetBasePositionAndOrientation(
self.aggressive_cube.bodies[0], [-1.5, 0, 0.05], [0, 0, 0, 1])
else:
self.aggressive_cube = ObjectHelper.get_cube(
self._p, -1.5, 0, 0.05)
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]
def robot_specific_reset(self, bullet_client):
WalkerBase.robot_specific_reset(self, bullet_client)
for n in ["foot_joint", "foot_left_joint"]:
self.jdict[n].power_coef = 30.0
def robot_specific_reset(self, bullet_client):
WalkerBase.robot_specific_reset(self, bullet_client)
self.set_initial_orientation(yaw_center=0, yaw_random_spread=np.pi)
self.head = self.parts["head"]
