class Ant(MuJoCoXmlRobot):
def __init__(self, model_xml):
super().__init__(model_xml)
self.default_robot = MuJoCoXmlRobot(get_default_xml('ant'))
self.default_params = np.array(self.default_robot.get_params())
self.lower_limits = 0.5 * self.default_params
self.upper_limits = 1.5 * self.default_params
def get_param_limits(self):
return self.lower_limits, self.upper_limits
class Walker(MuJoCoXmlRobot):
def __init__(self, model_xml):
super().__init__(model_xml)
self.default_robot = MuJoCoXmlRobot(get_default_xml('walker'))
self.default_params = np.array(self.default_robot.get_params()[:8])
self.lower_limits = 0.5 * self.default_params
self.upper_limits = 1.5 * self.default_params
def get_params(self):
return super().get_params()[:8]
def get_param_limits(self):
return self.lower_limits, self.upper_limits
def get_param_names(self):
return super().get_param_names()[:8]
def update(self, params, xml_file=None):
params = np.array(params)
params = np.concatenate([params, params[2:]])
super().update(params, xml_file)
def __init__(self, model_xml):
super().__init__(model_xml)
self.default_robot = MuJoCoXmlRobot(get_default_xml('walker'))
self.default_params = np.array(self.default_robot.get_params()[:8])
self.lower_limits = 0.5 * self.default_params
self.upper_limits = 1.5 * self.default_params