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MuJoCo/Ant-v4 DOC fix contact_forces observation (#387)

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Kallinteris Andreas
2023-03-15 00:00:31 +02:00
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parent 92d8e2a8af
commit 745375f6e5
1 changed files with 21 additions and 3 deletions
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gymnasium/envs/mujoco/ant_v4.py
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@@ -81,13 +81,31 @@ class AntEnv(MujocoEnv, utils.EzPickle):
| 23 | angular velocity of angle between torso and back left link | -Inf | Inf | hip_3 (back_leg) | hinge | angle (rad) |
| 24 | angular velocity of the angle between back left links | -Inf | Inf | ankle_3 (back_leg) | hinge | angle (rad) |
| 25 | angular velocity of angle between torso and back right link | -Inf | Inf | hip_4 (right_back_leg) | hinge | angle (rad) |
| 26 |angular velocity of the angle between back right links | -Inf | Inf | ankle_4 (right_back_leg) | hinge | angle (rad) |
| 26 | angular velocity of the angle between back right links | -Inf | Inf | ankle_4 (right_back_leg) | hinge | angle (rad) |
If version < `v4` or `use_contact_forces` is `True` then the observation space is extended by 14*6 = 84 elements, which are contact forces
(external forces - force x, y, z and torque x, y, z) applied to the
center of mass of each of the links. The 14 links are: the ground link,
the torso link, and 3 links for each leg (1 + 1 + 12) with the 6 external forces.
center of mass of each of the objects. The 14 object are:
in `v4` or earlier:
| id | object |
| --- | ------------ |
| 0 | worldObject (note: forces are always full of zeros) |
| 1 | torso |
| 2 | front_left_leg |
| 3 | aux_1 (front left leg) |
| 4 | ankle_1 (front left leg) |
| 5 | front_right_leg |
| 6 | aux_2 (front right leg) |
| 7 | ankle_2 (front right leg) |
| 8 | back_leg (back left leg) |
| 9 | aux_3 (back left leg) |
| 10 | ankle_3 (back left leg) |
| 11 | right_back_leg |
| 12 | aux_4 (back right leg) |
| 13 | ankle_4 (back right leg) |
The (x,y,z) coordinates are translational DOFs while the orientations are rotational
DOFs expressed as quaternions. One can read more about free joints on the [Mujoco Documentation](https://mujoco.readthedocs.io/en/latest/XMLreference.html).