from loco_mujoco.environments.humanoids.base_humanoid import BaseHumanoid
from loco_mujoco.environments.humanoids.base_humanoid_4_ages import BaseHumanoid4Ages
from loco_mujoco.environments import ValidTaskConf
from loco_mujoco.utils import check_validity_task_mode_dataset
[docs]
class HumanoidTorque(BaseHumanoid):
"""
Description
------------
MuJoCo simulation of a humanoid model with one torque actuator per joint.
Tasks
-----------------
* **Walking**: The robot has to walk forward with a fixed speed of 1.25 m/s.
* **Running**: Run forward with a fixed speed of 2.5 m/s.
Dataset Types
-----------------
The available dataset types for this environment can be found at: :ref:`env-label`.
Observation Space
-----------------
The observation space has the following properties *by default* (i.e., only obs with Disabled == False):
| For walking and running task: :code:`(min=-inf, max=inf, dim=36, dtype=float32)`
Some observations are **disabled by default**, but can be turned on. The detailed observation space is:
===== ============================================================================= ========= ======== ======== === ========================
Index Description Min Max Disabled Dim Units
===== ============================================================================= ========= ======== ======== === ========================
0 Position of Joint pelvis_ty -inf inf False 1 Position [m]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
1 Position of Joint pelvis_tilt -inf inf False 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
2 Position of Joint pelvis_list -inf inf False 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
3 Position of Joint pelvis_rotation -inf inf False 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
4 Position of Joint hip_flexion_r -0.787 0.787 False 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
5 Position of Joint hip_adduction_r -0.524 0.524 False 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
6 Position of Joint hip_rotation_r -2.0944 2.0944 False 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
7 Position of Joint knee_angle_r -2.0944 0.174533 False 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
8 Position of Joint ankle_angle_r -1.5708 1.5708 False 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
9 Position of Joint hip_flexion_l -0.787 0.787 False 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
10 Position of Joint hip_adduction_l -0.524 0.524 False 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
11 Position of Joint hip_rotation_l -2.0944 2.0944 False 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
12 Position of Joint knee_angle_l -2.0944 0.174533 False 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
13 Position of Joint ankle_angle_l -1.0472 1.0472 False 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
14 Position of Joint lumbar_extension -1.5708 0.377 False 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
15 Position of Joint lumbar_bending -0.754 0.754 False 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
16 Position of Joint lumbar_rotation -0.754 0.754 False 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
17 Position of Joint arm_flex_r -1.5708 1.5708 True 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
18 Position of Joint arm_add_r -2.0944 1.5708 True 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
19 Position of Joint arm_rot_r -1.5708 1.5708 True 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
20 Position of Joint elbow_flex_r -0.3 2.618 True 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
21 Position of Joint pro_sup_r -0.6 1.5708 True 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
22 Position of Joint wrist_flex_r -1.22173 1.22173 True 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
23 Position of Joint wrist_dev_r -0.436332 0.610865 True 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
24 Position of Joint arm_flex_l -1.5708 1.5708 True 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
25 Position of Joint arm_add_l -2.0944 1.5708 True 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
26 Position of Joint arm_rot_l -1.5708 1.5708 True 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
27 Position of Joint elbow_flex_l -0.3 2.618 True 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
28 Position of Joint pro_sup_l -0.6 1.5708 True 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
29 Position of Joint wrist_flex_l -1.22173 1.22173 True 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
30 Position of Joint wrist_dev_l -0.436332 0.610865 True 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
31 Velocity of Joint pelvis_tx -inf inf False 1 Velocity [m/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
32 Velocity of Joint pelvis_tz -inf inf False 1 Velocity [m/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
33 Velocity of Joint pelvis_ty -inf inf False 1 Velocity [m/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
34 Velocity of Joint pelvis_tilt -inf inf False 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
35 Velocity of Joint pelvis_list -inf inf False 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
36 Velocity of Joint pelvis_rotation -inf inf False 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
37 Velocity of Joint hip_flexion_r -inf inf False 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
38 Velocity of Joint hip_adduction_r -inf inf False 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
39 Velocity of Joint hip_rotation_r -inf inf False 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
40 Velocity of Joint knee_angle_r -inf inf False 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
41 Velocity of Joint ankle_angle_r -inf inf False 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
42 Velocity of Joint hip_flexion_l -inf inf False 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
43 Velocity of Joint hip_adduction_l -inf inf False 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
44 Velocity of Joint hip_rotation_l -inf inf False 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
45 Velocity of Joint knee_angle_l -inf inf False 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
46 Velocity of Joint ankle_angle_l -inf inf False 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
47 Velocity of Joint lumbar_extension -inf inf False 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
48 Velocity of Joint lumbar_bending -inf inf False 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
49 Velocity of Joint lumbar_rotation -inf inf False 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
50 Velocity of Joint arm_flex_r -inf inf True 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
51 Velocity of Joint arm_add_r -inf inf True 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
52 Velocity of Joint arm_rot_r -inf inf True 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
53 Velocity of Joint elbow_flex_r -inf inf True 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
54 Velocity of Joint pro_sup_r -inf inf True 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
55 Velocity of Joint wrist_flex_r -inf inf True 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
56 Velocity of Joint wrist_dev_r -inf inf True 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
57 Velocity of Joint arm_flex_l -inf inf True 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
58 Velocity of Joint arm_add_l -inf inf True 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
59 Velocity of Joint arm_rot_l -inf inf True 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
60 Velocity of Joint elbow_flex_l -inf inf True 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
61 Velocity of Joint pro_sup_l -inf inf True 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
62 Velocity of Joint wrist_flex_l -inf inf True 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
63 Velocity of Joint wrist_dev_l -inf inf True 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
64 3D linear Forces between Back Right Foot and Floor 0.0 inf True 3 Force [N]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
67 3D linear Forces between Front Right Foot and Floor (If box feet is disabled) 0.0 inf True 3 Force [N]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
70 3D linear Forces between Back Left Foot and Floor 0.0 inf True 3 Force [N]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
73 3D linear Forces between Front Left Foot and Floor (If box feet is disabled) 0.0 inf True 3 Force [N]
===== ============================================================================= ========= ======== ======== === ========================
Action Space
------------
| The action space has the following properties *by default* (i.e., only actions with Disabled == False):
| :code:`(min=-1, max=1, dim=13, dtype=float32)`
The action range in LocoMuJoCo is always standardized, i.e. in [-1.0, 1.0].
The XML of the environment specifies for each actuator a *gearing* ratio, which is used to scale the
the action to the actual control range of the actuator.
Some actions are **disabled by default**, but can be turned on. The detailed action space is:
===== ==================== =========== =========== ========
Index Name in XML Control Min Control Max Disabled
===== ==================== =========== =========== ========
0 mot_lumbar_ext -1.0 1.0 False
----- -------------------- ----------- ----------- --------
1 mot_lumbar_bend -1.0 1.0 False
----- -------------------- ----------- ----------- --------
2 mot_lumbar_rot -1.0 1.0 False
----- -------------------- ----------- ----------- --------
3 mot_shoulder_flex_r -1.0 1.0 True
----- -------------------- ----------- ----------- --------
4 mot_shoulder_add_r -1.0 1.0 True
----- -------------------- ----------- ----------- --------
5 mot_shoulder_rot_r -1.0 1.0 True
----- -------------------- ----------- ----------- --------
6 mot_elbow_flex_r -1.0 1.0 True
----- -------------------- ----------- ----------- --------
7 mot_pro_sup_r -1.0 1.0 True
----- -------------------- ----------- ----------- --------
8 mot_wrist_flex_r -1.0 1.0 True
----- -------------------- ----------- ----------- --------
9 mot_wrist_dev_r -1.0 1.0 True
----- -------------------- ----------- ----------- --------
10 mot_shoulder_flex_l -1.0 1.0 True
----- -------------------- ----------- ----------- --------
11 mot_shoulder_add_l -1.0 1.0 True
----- -------------------- ----------- ----------- --------
12 mot_shoulder_rot_l -1.0 1.0 True
----- -------------------- ----------- ----------- --------
13 mot_elbow_flex_l -1.0 1.0 True
----- -------------------- ----------- ----------- --------
14 mot_pro_sup_l -1.0 1.0 True
----- -------------------- ----------- ----------- --------
15 mot_wrist_flex_l -1.0 1.0 True
----- -------------------- ----------- ----------- --------
16 mot_wrist_dev_l -1.0 1.0 True
----- -------------------- ----------- ----------- --------
17 mot_hip_flexion_r -1.0 1.0 False
----- -------------------- ----------- ----------- --------
18 mot_hip_adduction_r -1.0 1.0 False
----- -------------------- ----------- ----------- --------
19 mot_hip_rotation_r -1.0 1.0 False
----- -------------------- ----------- ----------- --------
20 mot_knee_angle_r -1.0 1.0 False
----- -------------------- ----------- ----------- --------
21 mot_ankle_angle_r -1.0 1.0 False
----- -------------------- ----------- ----------- --------
22 mot_subtalar_angle_r -1.0 1.0 True
----- -------------------- ----------- ----------- --------
23 mot_mtp_angle_r -1.0 1.0 True
----- -------------------- ----------- ----------- --------
24 mot_hip_flexion_l -1.0 1.0 False
----- -------------------- ----------- ----------- --------
25 mot_hip_adduction_l -1.0 1.0 False
----- -------------------- ----------- ----------- --------
26 mot_hip_rotation_l -1.0 1.0 False
----- -------------------- ----------- ----------- --------
27 mot_knee_angle_l -1.0 1.0 False
----- -------------------- ----------- ----------- --------
28 mot_ankle_angle_l -1.0 1.0 False
----- -------------------- ----------- ----------- --------
29 mot_subtalar_angle_l -1.0 1.0 True
----- -------------------- ----------- ----------- --------
30 mot_mtp_angle_l -1.0 1.0 True
===== ==================== =========== =========== ========
Rewards
--------
The default reward function is based on the distance between the current center of mass velocity and the
desired velocity in the x-axis. The desired velocity is given by the dataset to imitate.
**Class**: :class:`loco_mujoco.utils.reward.TargetVelocityReward`
Initial States
---------------
The initial state is sampled by default from the dataset to imitate.
Terminal States
----------------
The terminal state is reached when the humanoid falls, or rather starts falling. The condition to check if the robot
is falling is based on the orientation of the robot, the height of the center of mass, and the orientation of the
back joint. More details can be found in the :code:`_has_fallen` method of the environment.
Methods
------------
"""
valid_task_confs = ValidTaskConf(tasks=["walk", "run"],
data_types=["real", "perfect"])
def __init__(self, **kwargs):
"""
Constructor.
"""
if "use_muscles" in kwargs.keys():
assert kwargs["use_muscles"] is False, "Activating muscles in this environment not allowed. "
del kwargs["use_muscles"]
super(HumanoidTorque, self).__init__(use_muscles=False, **kwargs)
[docs]
@staticmethod
def generate(task="walk", dataset_type="real", **kwargs):
check_validity_task_mode_dataset(HumanoidTorque.__name__, task, None, dataset_type,
*HumanoidTorque.valid_task_confs.get_all())
if dataset_type == "real":
if task == "walk":
path = "datasets/humanoids/real/02-constspeed_reduced_humanoid.npz"
elif task == "run":
path = "datasets/humanoids/real/05-run_reduced_humanoid.npz"
elif dataset_type == "perfect":
if "use_foot_forces" in kwargs.keys():
assert kwargs["use_foot_forces"] is False
if "disable_arms" in kwargs.keys():
assert kwargs["disable_arms"] is True
if "use_box_feet" in kwargs.keys():
assert kwargs["use_box_feet"] is True
if task == "walk":
path = "datasets/humanoids/perfect/humanoid_torque_walk/perfect_expert_dataset_det.npz"
elif task == "run":
path = "datasets/humanoids/perfect/humanoid_torque_run/perfect_expert_dataset_det.npz"
return BaseHumanoid.generate(HumanoidTorque, path, task, dataset_type, **kwargs)
[docs]
class HumanoidMuscle(BaseHumanoid):
"""
Description
------------
MuJoCo simulation of a humanoid model with muscle actuation.
.. note:: This Humanoid consists of 92 muscles on the lower limb. The upper body is torque actuated.
Tasks
-----------------
* **Walking**: The robot has to walk forward with a fixed speed of 1.25 m/s.
* **Running**: Run forward with a fixed speed of 2.5 m/s.
Dataset Types
-----------------
The available dataset types for this environment can be found at: :ref:`env-label`.
Observation Space
-----------------
The observation space has the following properties *by default* (i.e., only obs with Disabled == False):
| For walking and running task: :code:`(min=-inf, max=inf, dim=36, dtype=float32)`
Some observations are **disabled by default**, but can be turned on. The detailed observation space is:
===== ============================================================================= ========= ======== ======== === ========================
Index Description Min Max Disabled Dim Units
===== ============================================================================= ========= ======== ======== === ========================
0 Position of Joint pelvis_ty -100.0 200.0 False 1 Position [m]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
1 Position of Joint pelvis_tilt -1.5708 1.5708 False 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
2 Position of Joint pelvis_list -1.5708 1.5708 False 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
3 Position of Joint pelvis_rotation -1.5708 1.5708 False 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
4 Position of Joint hip_flexion_r -0.787 0.787 False 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
5 Position of Joint hip_adduction_r -0.524 0.524 False 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
6 Position of Joint hip_rotation_r -2.0944 2.0944 False 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
7 Position of Joint knee_angle_r -2.0944 0.174533 False 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
8 Position of Joint ankle_angle_r -1.5708 1.5708 False 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
9 Position of Joint hip_flexion_l -0.787 0.787 False 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
10 Position of Joint hip_adduction_l -0.524 0.524 False 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
11 Position of Joint hip_rotation_l -2.0944 2.0944 False 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
12 Position of Joint knee_angle_l -2.0944 0.174533 False 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
13 Position of Joint ankle_angle_l -1.0472 1.0472 False 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
14 Position of Joint lumbar_extension -1.5708 0.377 False 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
15 Position of Joint lumbar_bending -0.754 0.754 False 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
16 Position of Joint lumbar_rotation -0.754 0.754 False 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
17 Position of Joint arm_flex_r -1.5708 1.5708 True 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
18 Position of Joint arm_add_r -2.0944 1.5708 True 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
19 Position of Joint arm_rot_r -1.5708 1.5708 True 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
20 Position of Joint elbow_flex_r 0.0 2.618 True 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
21 Position of Joint pro_sup_r 0.0 1.5708 True 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
22 Position of Joint wrist_flex_r -1.22173 1.22173 True 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
23 Position of Joint wrist_dev_r -0.436332 0.610865 True 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
24 Position of Joint arm_flex_l -1.5708 1.5708 True 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
25 Position of Joint arm_add_l -2.0944 1.5708 True 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
26 Position of Joint arm_rot_l -1.5708 1.5708 True 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
27 Position of Joint elbow_flex_l 0.0 2.618 True 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
28 Position of Joint pro_sup_l 0.0 1.5708 True 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
29 Position of Joint wrist_flex_l -1.22173 1.22173 True 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
30 Position of Joint wrist_dev_l -0.436332 0.610865 True 1 Angle [rad]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
31 Velocity of Joint pelvis_tx -inf inf False 1 Velocity [m/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
32 Velocity of Joint pelvis_tz -inf inf False 1 Velocity [m/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
33 Velocity of Joint pelvis_ty -inf inf False 1 Velocity [m/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
34 Velocity of Joint pelvis_tilt -inf inf False 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
35 Velocity of Joint pelvis_list -inf inf False 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
36 Velocity of Joint pelvis_rotation -inf inf False 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
37 Velocity of Joint hip_flexion_r -inf inf False 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
38 Velocity of Joint hip_adduction_r -inf inf False 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
39 Velocity of Joint hip_rotation_r -inf inf False 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
40 Velocity of Joint knee_angle_r -inf inf False 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
41 Velocity of Joint ankle_angle_r -inf inf False 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
42 Velocity of Joint hip_flexion_l -inf inf False 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
43 Velocity of Joint hip_adduction_l -inf inf False 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
44 Velocity of Joint hip_rotation_l -inf inf False 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
45 Velocity of Joint knee_angle_l -inf inf False 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
46 Velocity of Joint ankle_angle_l -inf inf False 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
47 Velocity of Joint lumbar_extension -inf inf False 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
48 Velocity of Joint lumbar_bending -inf inf False 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
49 Velocity of Joint lumbar_rotation -inf inf False 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
50 Velocity of Joint arm_flex_r -inf inf True 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
51 Velocity of Joint arm_add_r -inf inf True 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
52 Velocity of Joint arm_rot_r -inf inf True 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
53 Velocity of Joint elbow_flex_r -inf inf True 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
54 Velocity of Joint pro_sup_r -inf inf True 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
55 Velocity of Joint wrist_flex_r -inf inf True 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
56 Velocity of Joint wrist_dev_r -inf inf True 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
57 Velocity of Joint arm_flex_l -inf inf True 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
58 Velocity of Joint arm_add_l -inf inf True 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
59 Velocity of Joint arm_rot_l -inf inf True 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
60 Velocity of Joint elbow_flex_l -inf inf True 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
61 Velocity of Joint pro_sup_l -inf inf True 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
62 Velocity of Joint wrist_flex_l -inf inf True 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
63 Velocity of Joint wrist_dev_l -inf inf True 1 Angular Velocity [rad/s]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
64 3D linear Forces between Back Right Foot and Floor 0.0 inf True 3 Force [N]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
67 3D linear Forces between Front Right Foot and Floor (If box feet is disabled) 0.0 inf True 3 Force [N]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
70 3D linear Forces between Back Left Foot and Floor 0.0 inf True 3 Force [N]
----- ----------------------------------------------------------------------------- --------- -------- -------- --- ------------------------
73 3D linear Forces between Front Left Foot and Floor (If box feet is disabled) 0.0 inf True 3 Force [N]
===== ============================================================================= ========= ======== ======== === ========================
Action Space
------------
.. note:: This Humanoid consists of 92 muscles on the lower limb. The upper body is torque actuated. The upper
body torque actuators have "mot_" for motor in their name.
| The action space has the following properties *by default* (i.e., only actions with Disabled == False):
| :code:`(min=-1, max=1, dim=92, dtype=float32)`
The action range in LocoMuJoCo is always standardized, i.e. in [-1.0, 1.0].
In Mujoco, muscles are actuated in a range of [0, 1], which is whý the action space is scaled and shifted
by LocoMuJoCo from [-1.0, 1.0] to [0, 1]. The strength of each muscle is defined in the XML.
For the motors, the XML of the environment specifies for each actuator a *gearing* ratio, which is used to scale the
the action to the actual control range of the actuator.
Some actions are **disabled by default**, but can be turned on. The detailed action space is:
===== =================== =========== =========== ========
Index Name in XML Control Min Control Max Disabled
===== =================== =========== =========== ========
0 mot_shoulder_flex_r -1.0 1.0 True
----- ------------------- ----------- ----------- --------
1 mot_shoulder_add_r -1.0 1.0 True
----- ------------------- ----------- ----------- --------
2 mot_shoulder_rot_r -1.0 1.0 True
----- ------------------- ----------- ----------- --------
3 mot_elbow_flex_r -1.0 1.0 True
----- ------------------- ----------- ----------- --------
4 mot_pro_sup_r -1.0 1.0 True
----- ------------------- ----------- ----------- --------
5 mot_wrist_flex_r -1.0 1.0 True
----- ------------------- ----------- ----------- --------
6 mot_wrist_dev_r -1.0 1.0 True
----- ------------------- ----------- ----------- --------
7 mot_shoulder_flex_l -1.0 1.0 True
----- ------------------- ----------- ----------- --------
8 mot_shoulder_add_l -1.0 1.0 True
----- ------------------- ----------- ----------- --------
9 mot_shoulder_rot_l -1.0 1.0 True
----- ------------------- ----------- ----------- --------
10 mot_elbow_flex_l -1.0 1.0 True
----- ------------------- ----------- ----------- --------
11 mot_pro_sup_l -1.0 1.0 True
----- ------------------- ----------- ----------- --------
12 mot_wrist_flex_l -1.0 1.0 True
----- ------------------- ----------- ----------- --------
13 mot_wrist_dev_l -1.0 1.0 True
----- ------------------- ----------- ----------- --------
14 glut_med1_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
15 glut_med2_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
16 glut_med3_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
17 glut_min1_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
18 glut_min2_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
19 glut_min3_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
20 semimem_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
21 semiten_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
22 bifemlh_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
23 bifemsh_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
24 sar_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
25 add_long_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
26 add_brev_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
27 add_mag1_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
28 add_mag2_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
29 add_mag3_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
30 tfl_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
31 pect_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
32 grac_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
33 glut_max1_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
34 glut_max2_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
35 glut_max3_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
36 iliacus_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
37 psoas_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
38 quad_fem_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
39 gem_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
40 peri_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
41 rect_fem_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
42 vas_med_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
43 vas_int_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
44 vas_lat_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
45 med_gas_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
46 lat_gas_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
47 soleus_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
48 tib_post_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
49 flex_dig_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
50 flex_hal_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
51 tib_ant_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
52 per_brev_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
53 per_long_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
54 per_tert_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
55 ext_dig_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
56 ext_hal_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
57 glut_med1_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
58 glut_med2_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
59 glut_med3_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
60 glut_min1_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
61 glut_min2_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
62 glut_min3_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
63 semimem_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
64 semiten_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
65 bifemlh_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
66 bifemsh_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
67 sar_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
68 add_long_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
69 add_brev_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
70 add_mag1_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
71 add_mag2_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
72 add_mag3_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
73 tfl_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
74 pect_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
75 grac_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
76 glut_max1_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
77 glut_max2_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
78 glut_max3_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
79 iliacus_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
80 psoas_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
81 quad_fem_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
82 gem_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
83 peri_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
84 rect_fem_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
85 vas_med_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
86 vas_int_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
87 vas_lat_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
88 med_gas_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
89 lat_gas_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
90 soleus_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
91 tib_post_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
92 flex_dig_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
93 flex_hal_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
94 tib_ant_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
95 per_brev_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
96 per_long_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
97 per_tert_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
98 ext_dig_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
99 ext_hal_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
100 ercspn_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
101 ercspn_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
102 intobl_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
103 intobl_l -1.0 1.0 False
----- ------------------- ----------- ----------- --------
104 extobl_r -1.0 1.0 False
----- ------------------- ----------- ----------- --------
105 extobl_l -1.0 1.0 False
===== =================== =========== =========== ========
Rewards
--------
The default reward function is based on the distance between the current center of mass velocity and the
desired velocity in the x-axis. The desired velocity is given by the dataset to imitate.
**Class**: :class:`loco_mujoco.utils.reward.TargetVelocityReward`
Initial States
---------------
The initial state is sampled by default from the dataset to imitate.
Terminal States
----------------
The terminal state is reached when the humanoid falls, or rather starts falling. The condition to check if the robot
is falling is based on the orientation of the robot, the height of the center of mass, and the orientation of the
back joint. More details can be found in the :code:`_has_fallen` method of the environment.
Methods
------------
"""
valid_task_confs = ValidTaskConf(tasks=["walk", "run"],
data_types=["real", "perfect"],
non_combinable=[("run", None, "perfect")])
def __init__(self, **kwargs):
"""
Constructor.
"""
if "use_muscles" in kwargs.keys():
assert kwargs["use_muscles"] is True, "Activating torque actuators in this environment not allowed. "
del kwargs["use_muscles"]
super(HumanoidMuscle, self).__init__(use_muscles=True, **kwargs)
[docs]
@staticmethod
def generate(task="walk", dataset_type="real", **kwargs):
check_validity_task_mode_dataset(HumanoidMuscle.__name__, task, None, dataset_type,
*HumanoidMuscle.valid_task_confs.get_all())
if dataset_type == "real":
if task == "walk":
path = "datasets/humanoids/real/02-constspeed_reduced_humanoid.npz"
elif task == "run":
path = "datasets/humanoids/real/05-run_reduced_humanoid.npz"
elif dataset_type == "perfect":
if "use_foot_forces" in kwargs.keys():
assert kwargs["use_foot_forces"] is False
if "disable_arms" in kwargs.keys():
assert kwargs["disable_arms"] is True
if "use_box_feet" in kwargs.keys():
assert kwargs["use_box_feet"] is True
if task == "walk":
path = "datasets/humanoids/perfect/humanoid_muscle_walk/perfect_expert_dataset_det.npz"
return BaseHumanoid.generate(HumanoidMuscle, path, task, dataset_type, **kwargs)
[docs]
class HumanoidTorque4Ages(BaseHumanoid4Ages):
"""
MuJoCo simulation of 4 simplified humanoid models with one torque actuator per joint.
At the beginning of each episode, one of the four humanoid models are randomly
sampled and used to simulate a trajectory. The different humanoids should
resemble an adult, a teenager (∼12 years), a child (∼5 years), and a
toddler (∼1-2 years). This environment can be partially observable by
using state masks to hide the humanoid type indicator from the policy.
.. note::
This environment is almost identical to the HumanoidTorque environment. The only differences are
a small addition to the observation space, a scaled reward function, and a slightly different initial
state distribution.
Observation Space
-----------------
**Additionally** to the HumanoidTorque model, the HumanoidTorque4Ages model has an identifier to give information
about the current scaling. The identifier is a binary number (bits). The length of the binary number is determined
by the number of scalings available. By default, it is 4, which is why the length of the identifier is 2
(Two bits are needed to encode a decimal <=4). By adding the identifier, the environment is not partially
observable by default. The additional observation space is:
===== =============================================== === === ======== === =====
Index Description Min Max Disabled Dim Units
===== =============================================== === === ======== === =====
77 Binary number identifying the humanoid scaling. 0 1 False 2 None
===== =============================================== === === ======== === =====
Rewards
--------
The default reward function is based on the distance between the current center of mass velocity and the
desired velocity in the x-axis. The desired velocity is given by the dataset to imitate. In comparison to
the HumanoidTorque model, this reward used a scaled desired target velocity to adapt to smaller humanoids.
**Class**: :class:`loco_mujoco.utils.reward.MultiTargetVelocityReward`
Initial States
---------------
At the beginning of each episode, a scaling factor is randomly sampled to choose the type of humanoid.
Based on that, the initial state is sampled by from the respective humanoid dataset.
Methods
------------
"""
valid_task_confs = ValidTaskConf(tasks=["walk", "run"],
modes=["all", "1", "2", "3", "4"],
data_types=["real", "perfect"])
def __init__(self, **kwargs):
"""
Constructor.
"""
if "use_muscles" in kwargs.keys():
assert kwargs["use_muscles"] is False, "Activating muscles in this environment not allowed. "
del kwargs["use_muscles"]
super(HumanoidTorque4Ages, self).__init__(use_muscles=False, **kwargs)
[docs]
@staticmethod
def generate(task="walk", mode="all", dataset_type="real", **kwargs):
"""
Returns a HumanoidTorque4Ages environment corresponding to the specified task.
Args:
task (str):
Main task to solve. Either "walk" or "run".
mode (str):
Mode of the environment. Either "all" (sample between all humanoid envs), "1"
(smallest humanoid), "2" (second smallest humanoid), "3" (teenage humanoid), and "4" (adult humanoid).
dataset_type (str):
"real" or "perfect". "real" uses real motion capture data as the
reference trajectory. This data does not perfectly match the kinematics
and dynamics of this environment, hence it is more challenging. "perfect" uses
a perfect dataset.
Returns:
An MDP of a set of Torque Humanoid of different sizes.
"""
check_validity_task_mode_dataset(HumanoidTorque4Ages.__name__, task, mode, dataset_type,
*HumanoidTorque4Ages.valid_task_confs.get_all())
if task == "walk":
if dataset_type == "real":
path = "datasets/humanoids/real/02-constspeed_reduced_humanoid_POMDP"
elif dataset_type == "perfect":
path = "datasets/humanoids/perfect/humanoid4ages_torque_walk/" \
"HumanoidTorque4Ages_walk_stochastic_dataset"
elif task == "run":
if dataset_type == "real":
path = "datasets/humanoids/real/05-run_reduced_humanoid_POMDP"
elif dataset_type == "perfect":
path = "datasets/humanoids/perfect/humanoid4ages_torque_run/" \
"HumanoidTorque4Ages_run_stochastic_dataset"
return BaseHumanoid4Ages.generate(HumanoidTorque4Ages, path, task, mode, dataset_type, **kwargs)
[docs]
class HumanoidMuscle4Ages(BaseHumanoid4Ages):
"""
MuJoCo simulation of 4 simplified humanoid models with muscle actuation.
At the beginning of each episode, one of the four humanoid models are
sampled and used to simulate a trajectory. The different humanoids should
resemble an adult, a teenager (∼12 years), a child (∼5 years), and a
toddler (∼1-2 years). This environment can be partially observable by
using state masks to hide the humanoid type indicator from the policy.
.. note::
This environment is almost identical to the HumanoidMuscle environment. The only differences are
a small addition to the observation space, a scaled reward function, and a slightly different initial
state distribution.
Observation Space
-----------------
**Additionally** to the HumanoidMuscle model, the HumanoidMuscle4Ages model has an identifier to give information
about the current scaling. The identifier is a binary number (bits). The length of the binary number is determined
by the number of scalings available. By default, it is 4, which is why the length of the identifier is 2
(Two bits are needed to encode a decimal <=4). By adding the identifier, the environment is not partially
observable by default. The additional observation space is:
===== =============================================== === === ======== === =====
Index Description Min Max Disabled Dim Units
===== =============================================== === === ======== === =====
77 Binary number identifying the humanoid scaling. 0 1 False 2 None
===== =============================================== === === ======== === =====
Rewards
--------
The default reward function is based on the distance between the current center of mass velocity and the
desired velocity in the x-axis. The desired velocity is given by the dataset to imitate. In comparison to
the HumanoidMuscle model, this reward used a scaled desired target velocity to adapt to smaller humanoids.
**Class**: :class:`loco_mujoco.utils.reward.MultiTargetVelocityReward`
Initial States
---------------
At the beginning of each episode, a scaling factor is randomly sampled to choose the type of humanoid.
Based on that, the initial state is sampled by from the respective humanoid dataset.
Methods
------------
"""
valid_task_confs = ValidTaskConf(tasks=["walk", "run"],
modes=["all", "1", "2", "3", "4"],
data_types=["real"])
def __init__(self, **kwargs):
"""
Constructor.
"""
if "use_muscles" in kwargs.keys():
assert kwargs["use_muscles"] is True, "Activating torque actuators in this environment not allowed. "
del kwargs["use_muscles"]
super(HumanoidMuscle4Ages, self).__init__(use_muscles=True, **kwargs)
[docs]
@staticmethod
def generate(task="walk", mode="all", dataset_type="real", **kwargs):
"""
Returns a HumanoidMuscle4Ages environment corresponding to the specified task.
Args:
task (str):
Main task to solve. Either "walk" or "run".
mode (str):
Mode of the environment. Either "all" (sample between all humanoid envs), "1"
(smallest humanoid), "2" (second smallest humanoid), "3" (teenage humanoid), and "4" (adult humanoid).
dataset_type (str):
"real" or "perfect". "real" uses real motion capture data as the
reference trajectory. This data does not perfectly match the kinematics
and dynamics of this environment, hence it is more challenging. "perfect" uses
a perfect dataset.
Returns:
An MDP of a set of Muscle Humanoid of different sizes.
"""
check_validity_task_mode_dataset(HumanoidMuscle4Ages.__name__, task, mode, dataset_type,
*HumanoidMuscle4Ages.valid_task_confs.get_all())
if task == "walk":
if dataset_type == "real":
path = "datasets/humanoids/real/02-constspeed_reduced_humanoid_POMDP"
elif task == "run":
if dataset_type == "real":
path = "datasets/humanoids/real/05-run_reduced_humanoid_POMDP"
return BaseHumanoid4Ages.generate(HumanoidMuscle4Ages, path, task, mode, dataset_type, **kwargs)