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, rand_init=False):
'''
Initialize the robot
:param rand_init: If True, randomly initialize robot position.
'''
MJCFBasedRobot.__init__(self, 'reacher.xml', 'body0', action_dim=2, obs_dim=9)
self.rand_init = rand_init
def __init__(self):
MJCFBasedRobot.__init__(self, "/root/synergyenvs/synergyenvs/envs/assets/hand/grasp_block.xml", "body0",
action_dim=21, obs_dim=102)
self.action_space = gym.spaces.Box(-np.ones([21]), np.ones([21]), dtype='float32')
self.observation_space = spaces.Dict(dict(
desired_goal=spaces.Box(-np.inf, np.inf, shape=(3,), dtype='float32'),
achieved_goal=spaces.Box(-np.inf, np.inf, shape=(3,), dtype='float32'),
observation=spaces.Box(-np.inf, np.inf, shape=(96,), dtype='float32'),
))
self.jname = ["robot0:slider",
"robot0:WRJ1", "robot0:WRJ0",
"robot0:FFJ3", "robot0:FFJ2", "robot0:FFJ1",
"robot0:MFJ3", "robot0:MFJ2", "robot0:MFJ1", "robot0:LFJ4",
"robot0:RFJ3", "robot0:RFJ2", "robot0:RFJ1",
"robot0:LFJ3", "robot0:LFJ2", "robot0:LFJ1",
"robot0:THJ4", "robot0:THJ3", "robot0:THJ2", "robot0:THJ1", "robot0:THJ0"]
self.djname = ["robot0:FFJ0", "robot0:MFJ0", "robot0:RFJ0", "robot0:LFJ0"]
# ranges of each joint in the hand, described in grasp_block.xml
self.ctrlrange = np.array([[-0.1, 0.4],
[-0.489, 0.14], [-0.698, 0.489],
[-0.349, 0.349], [0, 0.1571], [0, 0.1571],
[-0.349, 0.349], [0, 0.1571], [0, 0.1571],
[-0.349, 0.349], [0, 0.1571], [0, 0.1571], [0, 0.785],
[-0.349, 0.349], [0, 0.1571], [0, 0.1571],
[-1.047, 1.047], [0, 1.222], [-0.209, 0.209], [-0.524, 0.524], [-1.571, 0]])
self.forcerange = np.array([[-1.0, 1.0],
[-4.784, 4.785], [-2.175, 2.174],
[-0.9, 0.9], [-0.9, 0.9], [-0.7245, 0.7245],
[-0.9, 0.9], [-0.9, 0.9], [-0.7245, 0.7245],
[-0.9, 0.9], [-0.9, 0.9], [-0.7245, 0.7245], [-0.9, 0.9],
[-0.9, 0.9], [-0.9, 0.9], [-0.7245, 0.7245],
[-2.3722, 2.3722], [-1.45, 1.45], [-0.99, 0.99], [-0.99, 0.99], [-0.81, 0.81]])
def __init__(self):
WalkerBase.__init__(self, power=0.75)
MJCFBasedRobot.__init__(self,
"hopper.xml",
"torso",
action_dim=3,
obs_dim=17)
def __init__(self, rand_init=False):
MJCFBasedRobot.__init__(self,
'reacher.xml',
'body0',
action_dim=2,
obs_dim=9)
self.rand_init = rand_init
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=2.5)
MJCFBasedRobot.__init__(self,
"ant.xml",
"torso",
action_dim=8,
obs_dim=28 + 1)
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 __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=0.40)
MJCFBasedRobot.__init__(self,
"walker2d.xml",
"torso",
action_dim=6 + 1,
obs_dim=22 + 1)
self.aggressive_cube = None
self.frame = 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, 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 __init__(self):
MJCFBasedRobot.__init__(self,
'reacher_4goal.xml',
'body0',
action_dim=2,
obs_dim=9)
self.goal_positions = np.array(
[[self.TARG_LIMIT, self.TARG_LIMIT],
[self.TARG_LIMIT, -self.TARG_LIMIT],
[-self.TARG_LIMIT, -self.TARG_LIMIT],
[-self.TARG_LIMIT, self.TARG_LIMIT]
], # defined clockwise NE->SE->SW->NW
dtype=np.float32)
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 __init__(self):
MJCFBasedRobot.__init__(self,
'reacher3.xml',
'body0',
action_dim=3,
obs_dim=11,
parent_collision=False)
self.goal_positions = np.array(
[[self.TARG_LIMIT, self.TARG_LIMIT],
[self.TARG_LIMIT, -self.TARG_LIMIT],
[-self.TARG_LIMIT, -self.TARG_LIMIT],
[-self.TARG_LIMIT, self.TARG_LIMIT]
], # defined clockwise NE->SE->SW->NW
dtype=np.float32)
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 __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 __init__(self, target):
MJCFBasedRobot.__init__(self, 'reacher.xml', 'body0', action_dim=2, obs_dim=4)
self.target_pos = target
def __init__(self):
MJCFBasedRobot.__init__(self,
'reacher.xml',
'body0',
action_dim=2,
obs_dim=9)
def __init__(self):
MJCFBasedRobot.__init__(self,
'pusher.xml',
'body0',
action_dim=7,
obs_dim=55)
def __init__(self):
MJCFBasedRobot.__init__(self,
'inverted_pendulum.xml',
'cart',
action_dim=1,
obs_dim=5)
def __init__(self):
MJCFBasedRobot.__init__(self,
'thrower.xml',
'body0',
action_dim=7,
obs_dim=48)