def __init__(self):
WalkerBase.__init__(self, power=2.5)
MJCFBasedRobot.__init__(self,
"ant.xml",
"torso",
action_dim=8,
obs_dim=29)
def __init__(self):
WalkerBase.__init__(self, power=0.75)
MJCFBasedRobot.__init__(self,
"hopper.xml",
"torso",
action_dim=3,
obs_dim=11,
add_ignored_joints=True)
self.pos_after = 0
def __init__(self):
WalkerBase.__init__(self, power=1)
MJCFBasedRobot.__init__(self,
"half_cheetah.xml",
"torso",
action_dim=6,
obs_dim=17,
add_ignored_joints=True)
self.pos_after = 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=376)
# 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,
'thrower.xml',
'body0',
action_dim=7,
obs_dim=48)
def __init__(self):
MJCFBasedRobot.__init__(self, 'pusher.xml', 'body0', action_dim=7, obs_dim=55)
def __init__(self):
MJCFBasedRobot.__init__(self,
'inverted_double_pendulum.xml',
'cart',
action_dim=1,
obs_dim=11)
def __init__(self):
MJCFBasedRobot.__init__(self,
'reacher.xml',
'body0',
action_dim=2,
obs_dim=9)