Returns an LQR environment with 6 bodies of which first 2 are actuated.
(time_limit=_DEFAULT_TIME_LIMIT, random=None,
environment_kwargs=None)
| 64 | |
| 65 | @SUITE.add() |
| 66 | def lqr_6_2(time_limit=_DEFAULT_TIME_LIMIT, random=None, |
| 67 | environment_kwargs=None): |
| 68 | """Returns an LQR environment with 6 bodies of which first 2 are actuated.""" |
| 69 | return _make_lqr(n_bodies=6, |
| 70 | n_actuators=2, |
| 71 | control_cost_coef=_CONTROL_COST_COEF, |
| 72 | time_limit=time_limit, |
| 73 | random=random, |
| 74 | environment_kwargs=environment_kwargs) |
| 75 | |
| 76 | |
| 77 | def _make_lqr(n_bodies, n_actuators, control_cost_coef, time_limit, random, |
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