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Walker

mujorax.WalkerStandEnv

Bases: MjxPlaygroundEnv

DM Control WalkerStand.

Planar bipedal walker; dense reward for keeping the torso upright above a minimum standing height.

Parameters:

Name Type Description Default
config MjxPlaygroundConfig

Static configuration. Defaults to MjxPlaygroundConfig().

 None
Source code in mujorax/envs/walker.py
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class WalkerStandEnv(MjxPlaygroundEnv):
    """
    DM Control `WalkerStand`.

    Planar bipedal walker; dense reward for keeping the torso upright
    above a minimum standing height.

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

    _PLAYGROUND_NAME = "WalkerStand"

mujorax.WalkerWalkEnv

Bases: MjxPlaygroundEnv

DM Control WalkerWalk.

Same body as WalkerStand; 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/walker.py
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class WalkerWalkEnv(MjxPlaygroundEnv):
    """
    DM Control `WalkerWalk`.

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

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

    _PLAYGROUND_NAME = "WalkerWalk"

mujorax.WalkerRunEnv

Bases: MjxPlaygroundEnv

DM Control WalkerRun.

Same body as WalkerStand; 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/walker.py
Python
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class WalkerRunEnv(MjxPlaygroundEnv):
    """
    DM Control `WalkerRun`.

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

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

    _PLAYGROUND_NAME = "WalkerRun"