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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) | | 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) | | 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) | | 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 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 (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, center of mass of each of the objects. The 14 object are:
the torso link, and 3 links for each leg (1 + 1 + 12) with the 6 external forces.
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 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). DOFs expressed as quaternions. One can read more about free joints on the [Mujoco Documentation](https://mujoco.readthedocs.io/en/latest/XMLreference.html).