MuJoCo Walker2d

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"/>