(self,
               init_swing=0,
               init_extension=2.0,
               init_pose=None,
               action_scale=1.0,
               action_limit=0.5)
Initializes the controller.
    Args:
      init_swing: the swing of the default pose offset
      init_extension: the extension of the default pose offset
      init_pose: the default pose offset, which is None by default. If not None,
        it will define the default pose offset while ignoring init_swing and
        init_extension.
      action_scale: changes the magnitudes of actions
      action_limit: clips actions
Initializes the controller.
    Args:
      init_swing: the swing of the default pose offset
      init_extension: the extension of the default pose offset
      init_pose: the default pose offset, which is None by default. If not None,
        it will define the default pose offset while ignoring init_swing and
        init_extension.
      action_scale: changes the magnitudes of actions
      action_limit: clips actions
Initializes the controller . Args : init_swing : the swing of the default pose offset init_extension : the extension of the default pose offset init_pose : the default pose offset which is None by default . If not None it will define the default pose offset while ignoring init_swing and init_extension . action_scale : changes the magnitudes of actions action_limit : clips actions
def __init__(self,
               init_swing=0,
               init_extension=2.0,
               init_pose=None,
               action_scale=1.0,
               action_limit=0.5):
    """Initializes the controller.
    Args:
      init_swing: the swing of the default pose offset
      init_extension: the extension of the default pose offset
      init_pose: the default pose offset, which is None by default. If not None,
        it will define the default pose offset while ignoring init_swing and
        init_extension.
      action_scale: changes the magnitudes of actions
      action_limit: clips actions
    """
    if init_pose is None:
      self._pose = np.array(
          attr.astuple(
              minitaur_pose_utils.MinitaurPose(
                  swing_angle_0=init_swing,
                  swing_angle_1=init_swing,
                  swing_angle_2=init_swing,
                  swing_angle_3=init_swing,
                  extension_angle_0=init_extension,
                  extension_angle_1=init_extension,
                  extension_angle_2=init_extension,
                  extension_angle_3=init_extension)))
    else:  # Ignore init_swing and init_extension
      self._pose = np.array(init_pose)
    action_high = np.array([action_limit] * minitaur_pose_utils.NUM_MOTORS)
    self.action_space = spaces.Box(-action_high, action_high, dtype=np.float32)
    self._action_scale = action_scale
def __init__ ( self , init_swing = 0 , init_extension = 2.0 , init_pose = None , action_scale = 1.0 , action_limit = 0.5 ) : if init_pose is None : self . _pose = np . array ( attr . astuple ( minitaur_pose_utils . MinitaurPose ( swing_angle_0 = init_swing , swing_angle_1 = init_swing , swing_angle_2 = init_swing , swing_angle_3 = init_swing , extension_angle_0 = init_extension , extension_angle_1 = init_extension , extension_angle_2 = init_extension , extension_angle_3 = init_extension ) ) ) else : # Ignore init_swing and init_extension self . _pose = np . array ( init_pose ) action_high = np . array ( [ action_limit ] * minitaur_pose_utils . NUM_MOTORS ) self . action_space = spaces . Box ( - action_high , action_high , dtype = np . float32 ) self . _action_scale = action_scale