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Humanoid

mujorax.HumanoidStandEnv

Bases: MjxPlaygroundEnv

DM Control HumanoidStand.

21-DoF humanoid; dense reward for keeping the head above a minimum standing height while remaining stationary.

Parameters:

Name Type Description Default
config MjxPlaygroundConfig

Static configuration. Defaults to MjxPlaygroundConfig().

 None
Source code in mujorax/envs/humanoid.py
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class HumanoidStandEnv(MjxPlaygroundEnv):
    """
    DM Control `HumanoidStand`.

    21-DoF humanoid; dense reward for keeping the head above a minimum
    standing height while remaining stationary.

    Parameters
    ----------
    config : MjxPlaygroundConfig (optional)
        Static configuration. Defaults to `MjxPlaygroundConfig()`.
    """

    _PLAYGROUND_NAME = "HumanoidStand"

mujorax.HumanoidWalkEnv

Bases: MjxPlaygroundEnv

DM Control HumanoidWalk.

Same body as HumanoidStand; dense reward for matching a target walking speed while staying upright.

Parameters:

Name Type Description Default
config MjxPlaygroundConfig

Static configuration. Defaults to MjxPlaygroundConfig().

 None
Source code in mujorax/envs/humanoid.py
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class HumanoidWalkEnv(MjxPlaygroundEnv):
    """
    DM Control `HumanoidWalk`.

    Same body as `HumanoidStand`; dense reward for matching a target
    walking speed while staying upright.

    Parameters
    ----------
    config : MjxPlaygroundConfig (optional)
        Static configuration. Defaults to `MjxPlaygroundConfig()`.
    """

    _PLAYGROUND_NAME = "HumanoidWalk"

mujorax.HumanoidRunEnv

Bases: MjxPlaygroundEnv

DM Control HumanoidRun.

Same body as HumanoidStand; dense reward for matching a target running speed while staying upright.

Parameters:

Name Type Description Default
config MjxPlaygroundConfig

Static configuration. Defaults to MjxPlaygroundConfig().

 None
Source code in mujorax/envs/humanoid.py
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class HumanoidRunEnv(MjxPlaygroundEnv):
    """
    DM Control `HumanoidRun`.

    Same body as `HumanoidStand`; dense reward for matching a target
    running speed while staying upright.

    Parameters
    ----------
    config : MjxPlaygroundConfig (optional)
        Static configuration. Defaults to `MjxPlaygroundConfig()`.
    """

    _PLAYGROUND_NAME = "HumanoidRun"