MuJoCo Walker2d

Posted 2018.07.27 17:17

Let's find out what Walker2d is. 


State (17dim) 

def _get_obs(self):
qpos = self.sim.data.qpos
qvel = self.sim.data.qvel
return np.concatenate([qpos[1:], np.clip(qvel, -10, 10)]).ravel()


qpos: [x, y, angle, ?, ?, ?, ?, ?, ?]

qvel:  velocity of  [x, y, angle, ?, ?, ?, ?, ?, ?]

observation: [y, angle, ?, ?, ?, ?, ?, ?, xvel, yvel, angleVel, ?, ?, ?, ?, ?, ?] 




Action (6dim)

<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="thigh_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="leg_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="foot_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="thigh_left_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="leg_left_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="foot_left_joint"/>



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