(
      self,
      init_abduction=laikago_pose_utils.LAIKAGO_DEFAULT_ABDUCTION_ANGLE,
      init_hip=laikago_pose_utils.LAIKAGO_DEFAULT_HIP_ANGLE,
      init_knee=laikago_pose_utils.LAIKAGO_DEFAULT_KNEE_ANGLE,
      action_limit=0.5,
  )
Initializes the controller.
    Args:
      action_limit: a tuple of [limit_abduction, limit_hip, limit_knee]
Initializes the controller.
    Args:
      action_limit: a tuple of [limit_abduction, limit_hip, limit_knee]
Initializes the controller . Args : action_limit : a tuple of [ limit_abduction limit_hip limit_knee ]
def __init__(
      self,
      init_abduction=laikago_pose_utils.LAIKAGO_DEFAULT_ABDUCTION_ANGLE,
      init_hip=laikago_pose_utils.LAIKAGO_DEFAULT_HIP_ANGLE,
      init_knee=laikago_pose_utils.LAIKAGO_DEFAULT_KNEE_ANGLE,
      action_limit=0.5,
  ):
    """Initializes the controller.
    Args:
      action_limit: a tuple of [limit_abduction, limit_hip, limit_knee]
    """
    self._pose = np.array(
        attr.astuple(
            laikago_pose_utils.LaikagoPose(abduction_angle_0=init_abduction,
                                           hip_angle_0=init_hip,
                                           knee_angle_0=init_knee,
                                           abduction_angle_1=init_abduction,
                                           hip_angle_1=init_hip,
                                           knee_angle_1=init_knee,
                                           abduction_angle_2=init_abduction,
                                           hip_angle_2=init_hip,
                                           knee_angle_2=init_knee,
                                           abduction_angle_3=init_abduction,
                                           hip_angle_3=init_hip,
                                           knee_angle_3=init_knee)))
    action_high = np.array([action_limit] * 12)
    self.action_space = spaces.Box(-action_high, action_high, dtype=np.float32)
def __init__ ( self , init_abduction = laikago_pose_utils . LAIKAGO_DEFAULT_ABDUCTION_ANGLE , init_hip = laikago_pose_utils . LAIKAGO_DEFAULT_HIP_ANGLE , init_knee = laikago_pose_utils . LAIKAGO_DEFAULT_KNEE_ANGLE , action_limit = 0.5 , ) : self . _pose = np . array ( attr . astuple ( laikago_pose_utils . LaikagoPose ( abduction_angle_0 = init_abduction , hip_angle_0 = init_hip , knee_angle_0 = init_knee , abduction_angle_1 = init_abduction , hip_angle_1 = init_hip , knee_angle_1 = init_knee , abduction_angle_2 = init_abduction , hip_angle_2 = init_hip , knee_angle_2 = init_knee , abduction_angle_3 = init_abduction , hip_angle_3 = init_hip , knee_angle_3 = init_knee ) ) ) action_high = np . array ( [ action_limit ] * 12 ) self . action_space = spaces . Box ( - action_high , action_high , dtype = np . float32 )