Humanoid V1

Overview

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Get your quaternion conversion straight. It is active Hamiltonian convention. See this site for clarification.

Details

• Name: Humanoid-V1
• Category: MoJoCo
• Leaderboard Page

Description

Make a three-dimensional bipedal robot walk forward as fast as possible, without falling over.

Environment

Observation

The openai gym environment hides first 2 dimensions of qpos returned by MoJoCo. The correspond to x and y co-ordinate of the robot root (abdomen). The reason is these quantity can grow boundlessly and their absolute value do not carry any significance. If you want to obtain the full state just use env.env.state_vector() and you will get a 47 dimensional vector containing qpos and qvel. reffer to mujoco_env.py. All the joint angles are in degrees.

Type: Box(376)

Num	Observation	Min	Max	Mean
0	root_z (Position)	-inf	+inf	1.4
1	root_w (global orientation quaternion)	-1	+1	1
2	root_x (global orientation quaternion)	-1	+1	0
3	root_y (global orientation quaternion)	-1	+1	0
4	root_z (global orientation quaternion)	-1	+1	0
5	abdomen_z (rotation)	-45	+45	0
6	abdomen_y (rotation)	-75	+30	0
7	abdomen_x (rotation)	-35	+35	0
8	right_hip_x (rotation)	-25	+5	0
9	right_hip_z (rotation)	-60	+35	0
10	right_hip_y (rotation)	-110	+20	0
11	right_knee (rotation)	-160	-2	0
12	left_hip_x (rotation)	-25	+5	0
13	left_hip_z (rotation)	-60	+35	0
14	left_hip_y (rotation)	-110	+20	0
15	left_knee (rotation)	-160	-2	0
16	right_shoulder_1 (rotation)	-85	+60	0
17	right_shoulder_2 (rotation)	-85	+60	0
18	right_elbow (rotation)	-90	+50	0
19	left_shoulder_1 (rotation)	-85	+60	0
20	left_shoulder_2 (rotation)	-85	+60	0
21	left_elbow (rotation)	-90	+50	0

22:45 | qvel (velocity of joints) | unknown | unknown | unknown 45:185 | cinert (center of mass based inertia) | unknown | unknown | unknown 185:269| cvel (center of mass based velocity) | unknown | unknown | unknown 269:292| qfrac_actuator (actuator force) | unknown | unknown | unknown 292:376| cfrac_ext (center of mass based external force) | unknown | unknown | unknown

Actions

Type: Box(17) - Torque control

Num	Name	Gear
0	abdomen_y	100
1	abdomen_z	100
2	abdomen_x	100
3	right_hip_x	100
4	right_hip_z	100
5	right_hip_y	300
6	right_knee	200
7	left_hip_x	100
8	left_hip_z	100
9	left_hip_y	300
10	left_knee	200
11	right_shoulder1	25
12	right_shoulder2	25
13	right_elbow	25
14	left_shoulder1	25
15	left_shoulder2	25
16	left_elbow	25

Reward

Reward is given for ... To be completed

Starting State

qpos = [0, 0, 1.4, 1, 0, 0 ... 0] and qvel = np.zeros((23,))

Episode Termination

The episode ends when the the researcher decided to.

Solved Requirements

Not solved yet.