(self,
               walker,
               arena,
               walker_spawn_position=(0, 0, 0),
               walker_spawn_rotation=None,
               target_velocity=3.0,
               contact_termination=True,
               terminate_at_height=-0.5,
               physics_timestep=0.005,
               control_timestep=0.025)
Initializes this task.

    Args:
      walker: an instance of `locomotion.walkers.base.Walker`.
      arena: an instance of `locomotion.arenas.corridors.Corridor`.
      walker_spawn_position: a sequence of 3 numbers, or a `composer.Variation`
        instance that generates such sequences, specifying the position at
        which the walker is spawned at the beginning of an episode.
      walker_spawn_rotation: a number, or a `composer.Variation` instance that
        generates a number, specifying the yaw angle offset (in radians) that is
        applied to the walker at the beginning of an episode.
      target_velocity: a number specifying the target velocity (in meters per
        second) for the walker.
      contact_termination: whether to terminate if a non-foot geom touches the
        ground.
      terminate_at_height: a number specifying the height of end effectors below
        which the episode terminates.
      physics_timestep: a number specifying the timestep (in seconds) of the
        physics simulation.
      control_timestep: a number specifying the timestep (in seconds) at which
        the agent applies its control inputs (in seconds).
Initializes this task.
Initializes this task .
def __init__(self,
               walker,
               arena,
               walker_spawn_position=(0, 0, 0),
               walker_spawn_rotation=None,
               target_velocity=3.0,
               contact_termination=True,
               terminate_at_height=-0.5,
               physics_timestep=0.005,
               control_timestep=0.025):
    """Initializes this task.

    Args:
      walker: an instance of `locomotion.walkers.base.Walker`.
      arena: an instance of `locomotion.arenas.corridors.Corridor`.
      walker_spawn_position: a sequence of 3 numbers, or a `composer.Variation`
        instance that generates such sequences, specifying the position at
        which the walker is spawned at the beginning of an episode.
      walker_spawn_rotation: a number, or a `composer.Variation` instance that
        generates a number, specifying the yaw angle offset (in radians) that is
        applied to the walker at the beginning of an episode.
      target_velocity: a number specifying the target velocity (in meters per
        second) for the walker.
      contact_termination: whether to terminate if a non-foot geom touches the
        ground.
      terminate_at_height: a number specifying the height of end effectors below
        which the episode terminates.
      physics_timestep: a number specifying the timestep (in seconds) of the
        physics simulation.
      control_timestep: a number specifying the timestep (in seconds) at which
        the agent applies its control inputs (in seconds).
    """

    self._arena = arena
    self._walker = walker
    self._walker.create_root_joints(self._arena.attach(self._walker))
    self._walker_spawn_position = walker_spawn_position
    self._walker_spawn_rotation = walker_spawn_rotation

    enabled_observables = []
    enabled_observables += self._walker.observables.proprioception
    enabled_observables += self._walker.observables.kinematic_sensors
    enabled_observables += self._walker.observables.dynamic_sensors
    enabled_observables.append(self._walker.observables.sensors_touch)
    enabled_observables.append(self._walker.observables.egocentric_camera)
    for observable in enabled_observables:
      observable.enabled = True

    self._vel = target_velocity
    self._contact_termination = contact_termination
    self._terminate_at_height = terminate_at_height

    self.set_timesteps(
        physics_timestep=physics_timestep, control_timestep=control_timestep)
def __init__ ( self , walker , arena , walker_spawn_position = ( 0 , 0 , 0 ) , walker_spawn_rotation = None , target_velocity = 3.0 , contact_termination = True , terminate_at_height = - 0.5 , physics_timestep = 0.005 , control_timestep = 0.025 ) : self . _arena = arena self . _walker = walker self . _walker . create_root_joints ( self . _arena . attach ( self . _walker ) ) self . _walker_spawn_position = walker_spawn_position self . _walker_spawn_rotation = walker_spawn_rotation enabled_observables = [ ] enabled_observables += self . _walker . observables . proprioception enabled_observables += self . _walker . observables . kinematic_sensors enabled_observables += self . _walker . observables . dynamic_sensors enabled_observables . append ( self . _walker . observables . sensors_touch ) enabled_observables . append ( self . _walker . observables . egocentric_camera ) for observable in enabled_observables : observable . enabled = True self . _vel = target_velocity self . _contact_termination = contact_termination self . _terminate_at_height = terminate_at_height self . set_timesteps ( physics_timestep = physics_timestep , control_timestep = control_timestep )