Doggo

front

back

left

right

Doggo is a quadrupedal robot with bilateral symmetry. Each of the four legs has two controls at the hip, for azimuth and elevation relative to the torso, and one in the knee, controlling angle. It is designed such that a uniform random policy should keep the robot from falling over and generating some travel.

Specific Action Space	Box(-1.0, 1.0, (12,), float64)
Specific Observation Shape	(12,)
Specific Observation High	inf
Specific Observation Low	-inf

Specific Action Space

Num	Action	Control Min	Control Max	Name (in corresponding XML file)	Joint/Site	Unit
0	torque applied on the rotor between the torso and front left hip around z-axis	-1	1	hip_1_z	hinge	torque (N m)
1	torque applied on the rotor between the torso and back left hip around z-axis	-1	1	hip_2_z	hinge	torque (N m)
2	torque applied on the rotor between the torso and back right hip around z-axis	-1	1	hip_3_z	hinge	torque (N m)
3	torque applied on the rotor between the torso and front right hip around z-axis	-1	1	hip_4_z	hinge	torque (N m)
4	torque applied on the rotor between the torso and front left hip around y-axis	-1	1	hip_1_y	hinge	torque (N m)
5	torque applied on the rotor between the torso and back left hip around y-axis	-1	1	hip_2_y	hinge	torque (N m)
6	torque applied on the rotor between the torso and back right hip around y-axis	-1	1	hip_3_y	hinge	torque (N m)
7	torque applied on the rotor between the torso and front right hip around y-axis	-1	1	hip_4_y	hinge	torque (N m)
8	torque applied on the rotor between the front left two links	-1	1	ankle_1	hinge	torque (N m)
9	torque applied on the rotor between the back left two links	-1	1	ankle_2	hinge	torque (N m)
10	torque applied on the rotor between the back right two links	-1	1	ankle_3	hinge	torque (N m)
11	torque applied on the rotor between the front right two links	-1	1	ankle_4	hinge	torque (N m)

Specific Observation Space

Size	Observation	Min	Max	Name (in corresponding XML file)	Joint/Site	Unit
3	accelerometer	-inf	inf	accelerometer	site	acceleration (m/s^2)
3	velocimeter	-inf	inf	velocimeter	site	velocity (m/s)
3	gyro	-inf	inf	gyro	site	anglular velocity (rad/s)
3	magnetometer	-inf	inf	magnetometer	site	magnetic flux (Wb)

Specific Starting Randomness

Nothing.

Specific Episode End

Nothing.