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<p class="caption" role="heading"><span class="caption-text">Tutorials</span></p>
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<i class="icon"><svg><use href="#svg-toc"></use></svg></i>
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</label>
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</div>
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<article role="main">
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||
|
||
<section id="ant">
|
||
<h1>Ant<a class="headerlink" href="#ant" title="Permalink to this heading">#</a></h1>
|
||
<figure class="align-default" id="id1">
|
||
<a class="reference internal image-reference" href="../../../_images/ant.gif"><img alt="../../../_images/ant.gif" src="../../../_images/ant.gif" style="width: 200px;" /></a>
|
||
</figure>
|
||
<p>This environment is part of the <a href='..'>Mujoco environments</a>.Please read that page first for general information.</p>
|
||
<div class="table-wrapper colwidths-auto docutils container">
|
||
<table class="docutils align-default">
|
||
<thead>
|
||
<tr class="row-odd"><th class="head"><p></p></th>
|
||
<th class="head"><p></p></th>
|
||
</tr>
|
||
</thead>
|
||
<tbody>
|
||
<tr class="row-even"><td><p>Action Space</p></td>
|
||
<td><p>Box(-1.0, 1.0, (8,), float32)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>Observation Shape</p></td>
|
||
<td><p>(27,)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>Observation High</p></td>
|
||
<td><p>inf</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>Observation Low</p></td>
|
||
<td><p>-inf</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>Import</p></td>
|
||
<td><p><code class="docutils literal notranslate"><span class="pre">gymnasium.make("Ant-v4")</span></code></p></td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
</div>
|
||
<section id="description">
|
||
<h2>Description<a class="headerlink" href="#description" title="Permalink to this heading">#</a></h2>
|
||
<p>This environment is based on the environment introduced by Schulman,
|
||
Moritz, Levine, Jordan and Abbeel in <a class="reference external" href="https://arxiv.org/abs/1506.02438">“High-Dimensional Continuous Control
|
||
Using Generalized Advantage Estimation”</a>.
|
||
The ant is a 3D robot consisting of one torso (free rotational body) with
|
||
four legs attached to it with each leg having two links. The goal is to
|
||
coordinate the four legs to move in the forward (right) direction by applying
|
||
torques on the eight hinges connecting the two links of each leg and the torso
|
||
(nine parts and eight hinges).</p>
|
||
</section>
|
||
<section id="action-space">
|
||
<h2>Action Space<a class="headerlink" href="#action-space" title="Permalink to this heading">#</a></h2>
|
||
<p>The action space is a <code class="docutils literal notranslate"><span class="pre">Box(-1,</span> <span class="pre">1,</span> <span class="pre">(8,),</span> <span class="pre">float32)</span></code>. An action represents the torques applied at the hinge joints.</p>
|
||
<div class="table-wrapper colwidths-auto docutils container">
|
||
<table class="docutils align-default">
|
||
<thead>
|
||
<tr class="row-odd"><th class="head"><p>Num</p></th>
|
||
<th class="head"><p>Action</p></th>
|
||
<th class="head"><p>Control Min</p></th>
|
||
<th class="head"><p>Control Max</p></th>
|
||
<th class="head"><p>Name (in corresponding XML file)</p></th>
|
||
<th class="head"><p>Joint</p></th>
|
||
<th class="head"><p>Unit</p></th>
|
||
</tr>
|
||
</thead>
|
||
<tbody>
|
||
<tr class="row-even"><td><p>0</p></td>
|
||
<td><p>Torque applied on the rotor between the torso and back right hip</p></td>
|
||
<td><p>-1</p></td>
|
||
<td><p>1</p></td>
|
||
<td><p>hip_4 (right_back_leg)</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>torque (N m)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>1</p></td>
|
||
<td><p>Torque applied on the rotor between the back right two links</p></td>
|
||
<td><p>-1</p></td>
|
||
<td><p>1</p></td>
|
||
<td><p>angle_4 (right_back_leg)</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>torque (N m)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>2</p></td>
|
||
<td><p>Torque applied on the rotor between the torso and front left hip</p></td>
|
||
<td><p>-1</p></td>
|
||
<td><p>1</p></td>
|
||
<td><p>hip_1 (front_left_leg)</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>torque (N m)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>3</p></td>
|
||
<td><p>Torque applied on the rotor between the front left two links</p></td>
|
||
<td><p>-1</p></td>
|
||
<td><p>1</p></td>
|
||
<td><p>angle_1 (front_left_leg)</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>torque (N m)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>4</p></td>
|
||
<td><p>Torque applied on the rotor between the torso and front right hip</p></td>
|
||
<td><p>-1</p></td>
|
||
<td><p>1</p></td>
|
||
<td><p>hip_2 (front_right_leg)</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>torque (N m)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>5</p></td>
|
||
<td><p>Torque applied on the rotor between the front right two links</p></td>
|
||
<td><p>-1</p></td>
|
||
<td><p>1</p></td>
|
||
<td><p>angle_2 (front_right_leg)</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>torque (N m)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>6</p></td>
|
||
<td><p>Torque applied on the rotor between the torso and back left hip</p></td>
|
||
<td><p>-1</p></td>
|
||
<td><p>1</p></td>
|
||
<td><p>hip_3 (back_leg)</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>torque (N m)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>7</p></td>
|
||
<td><p>Torque applied on the rotor between the back left two links</p></td>
|
||
<td><p>-1</p></td>
|
||
<td><p>1</p></td>
|
||
<td><p>angle_3 (back_leg)</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>torque (N m)</p></td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
</div>
|
||
</section>
|
||
<section id="observation-space">
|
||
<h2>Observation Space<a class="headerlink" href="#observation-space" title="Permalink to this heading">#</a></h2>
|
||
<p>Observations consist of positional values of different body parts of the ant,
|
||
followed by the velocities of those individual parts (their derivatives) with all
|
||
the positions ordered before all the velocities.</p>
|
||
<p>By default, observations do not include the x- and y-coordinates of the ant’s torso. These may
|
||
be included by passing <code class="docutils literal notranslate"><span class="pre">exclude_current_positions_from_observation=False</span></code> during construction.
|
||
In that case, the observation space will have 29 dimensions where the first two dimensions
|
||
represent the x- and y- coordinates of the ant’s torso.
|
||
Regardless of whether <code class="docutils literal notranslate"><span class="pre">exclude_current_positions_from_observation</span></code> was set to true or false, the x- and y-coordinates
|
||
of the torso will be returned in <code class="docutils literal notranslate"><span class="pre">info</span></code> with keys <code class="docutils literal notranslate"><span class="pre">"x_position"</span></code> and <code class="docutils literal notranslate"><span class="pre">"y_position"</span></code>, respectively.</p>
|
||
<p>However, by default, an observation is a <code class="docutils literal notranslate"><span class="pre">ndarray</span></code> with shape <code class="docutils literal notranslate"><span class="pre">(27,)</span></code>
|
||
where the elements correspond to the following:</p>
|
||
<div class="table-wrapper colwidths-auto docutils container">
|
||
<table class="docutils align-default">
|
||
<thead>
|
||
<tr class="row-odd"><th class="head"><p>Num</p></th>
|
||
<th class="head"><p>Observation</p></th>
|
||
<th class="head"><p>Min</p></th>
|
||
<th class="head"><p>Max</p></th>
|
||
<th class="head"><p>Name (in corresponding XML file)</p></th>
|
||
<th class="head"><p>Joint</p></th>
|
||
<th class="head"><p>Unit</p></th>
|
||
</tr>
|
||
</thead>
|
||
<tbody>
|
||
<tr class="row-even"><td><p>0</p></td>
|
||
<td><p>z-coordinate of the torso (centre)</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>torso</p></td>
|
||
<td><p>free</p></td>
|
||
<td><p>position (m)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>1</p></td>
|
||
<td><p>x-orientation of the torso (centre)</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>torso</p></td>
|
||
<td><p>free</p></td>
|
||
<td><p>angle (rad)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>2</p></td>
|
||
<td><p>y-orientation of the torso (centre)</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>torso</p></td>
|
||
<td><p>free</p></td>
|
||
<td><p>angle (rad)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>3</p></td>
|
||
<td><p>z-orientation of the torso (centre)</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>torso</p></td>
|
||
<td><p>free</p></td>
|
||
<td><p>angle (rad)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>4</p></td>
|
||
<td><p>w-orientation of the torso (centre)</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>torso</p></td>
|
||
<td><p>free</p></td>
|
||
<td><p>angle (rad)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>5</p></td>
|
||
<td><p>angle between torso and first link on front left</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>hip_1 (front_left_leg)</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>angle (rad)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>6</p></td>
|
||
<td><p>angle between the two links on the front left</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>ankle_1 (front_left_leg)</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>angle (rad)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>7</p></td>
|
||
<td><p>angle between torso and first link on front right</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>hip_2 (front_right_leg)</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>angle (rad)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>8</p></td>
|
||
<td><p>angle between the two links on the front right</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>ankle_2 (front_right_leg)</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>angle (rad)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>9</p></td>
|
||
<td><p>angle between torso and first link on back left</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>hip_3 (back_leg)</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>angle (rad)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>10</p></td>
|
||
<td><p>angle between the two links on the back left</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>ankle_3 (back_leg)</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>angle (rad)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>11</p></td>
|
||
<td><p>angle between torso and first link on back right</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>hip_4 (right_back_leg)</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>angle (rad)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>12</p></td>
|
||
<td><p>angle between the two links on the back right</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>ankle_4 (right_back_leg)</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>angle (rad)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>13</p></td>
|
||
<td><p>x-coordinate velocity of the torso</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>torso</p></td>
|
||
<td><p>free</p></td>
|
||
<td><p>velocity (m/s)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>14</p></td>
|
||
<td><p>y-coordinate velocity of the torso</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>torso</p></td>
|
||
<td><p>free</p></td>
|
||
<td><p>velocity (m/s)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>15</p></td>
|
||
<td><p>z-coordinate velocity of the torso</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>torso</p></td>
|
||
<td><p>free</p></td>
|
||
<td><p>velocity (m/s)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>16</p></td>
|
||
<td><p>x-coordinate angular velocity of the torso</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>torso</p></td>
|
||
<td><p>free</p></td>
|
||
<td><p>angular velocity (rad/s)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>17</p></td>
|
||
<td><p>y-coordinate angular velocity of the torso</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>torso</p></td>
|
||
<td><p>free</p></td>
|
||
<td><p>angular velocity (rad/s)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>18</p></td>
|
||
<td><p>z-coordinate angular velocity of the torso</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>torso</p></td>
|
||
<td><p>free</p></td>
|
||
<td><p>angular velocity (rad/s)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>19</p></td>
|
||
<td><p>angular velocity of angle between torso and front left link</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>hip_1 (front_left_leg)</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>angle (rad)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>20</p></td>
|
||
<td><p>angular velocity of the angle between front left links</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>ankle_1 (front_left_leg)</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>angle (rad)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>21</p></td>
|
||
<td><p>angular velocity of angle between torso and front right link</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>hip_2 (front_right_leg)</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>angle (rad)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>22</p></td>
|
||
<td><p>angular velocity of the angle between front right links</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>ankle_2 (front_right_leg)</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>angle (rad)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>23</p></td>
|
||
<td><p>angular velocity of angle between torso and back left link</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>hip_3 (back_leg)</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>angle (rad)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>24</p></td>
|
||
<td><p>angular velocity of the angle between back left links</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>ankle_3 (back_leg)</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>angle (rad)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p>25</p></td>
|
||
<td><p>angular velocity of angle between torso and back right link</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>hip_4 (right_back_leg)</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>angle (rad)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p>26</p></td>
|
||
<td><p>angular velocity of the angle between back right links</p></td>
|
||
<td><p>-Inf</p></td>
|
||
<td><p>Inf</p></td>
|
||
<td><p>ankle_4 (right_back_leg)</p></td>
|
||
<td><p>hinge</p></td>
|
||
<td><p>angle (rad)</p></td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
</div>
|
||
<p>If <code class="docutils literal notranslate"><span class="pre">use_contact_forces</span></code> is <code class="docutils literal notranslate"><span class="pre">True</span></code> 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.</p>
|
||
<p>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 <a class="reference external" href="https://mujoco.readthedocs.io/en/latest/XMLreference.html">Mujoco Documentation</a>.</p>
|
||
<p><strong>Note:</strong> Ant-v4 environment no longer has the following contact forces issue.
|
||
If using previous Humanoid versions from v4, there have been reported issues that using a Mujoco-Py version > 2.0 results
|
||
in the contact forces always being 0. As such we recommend to use a Mujoco-Py version < 2.0
|
||
when using the Ant environment if you would like to report results with contact forces (if
|
||
contact forces are not used in your experiments, you can use version > 2.0).</p>
|
||
</section>
|
||
<section id="rewards">
|
||
<h2>Rewards<a class="headerlink" href="#rewards" title="Permalink to this heading">#</a></h2>
|
||
<p>The reward consists of three parts:</p>
|
||
<ul class="simple">
|
||
<li><p><em>healthy_reward</em>: Every timestep that the ant is healthy (see definition in section “Episode Termination”), it gets a reward of fixed value <code class="docutils literal notranslate"><span class="pre">healthy_reward</span></code></p></li>
|
||
<li><p><em>forward_reward</em>: A reward of moving forward which is measured as
|
||
<em>(x-coordinate before action - x-coordinate after action)/dt</em>. <em>dt</em> is the time
|
||
between actions and is dependent on the <code class="docutils literal notranslate"><span class="pre">frame_skip</span></code> parameter (default is 5),
|
||
where the frametime is 0.01 - making the default <em>dt = 5 * 0.01 = 0.05</em>.
|
||
This reward would be positive if the ant moves forward (in positive x direction).</p></li>
|
||
<li><p><em>ctrl_cost</em>: A negative reward for penalising the ant if it takes actions
|
||
that are too large. It is measured as <em><code class="docutils literal notranslate"><span class="pre">ctrl_cost_weight</span></code> * sum(action<sup>2</sup>)</em>
|
||
where <em><code class="docutils literal notranslate"><span class="pre">ctr_cost_weight</span></code></em> is a parameter set for the control and has a default value of 0.5.</p></li>
|
||
<li><p><em>contact_cost</em>: A negative reward for penalising the ant if the external contact
|
||
force is too large. It is calculated <em><code class="docutils literal notranslate"><span class="pre">contact_cost_weight</span></code> * sum(clip(external contact
|
||
force to <code class="docutils literal notranslate"><span class="pre">contact_force_range</span></code>)<sup>2</sup>)</em>.</p></li>
|
||
</ul>
|
||
<p>The total reward returned is <em><strong>reward</strong></em> <em>=</em> <em>healthy_reward + forward_reward - ctrl_cost</em>.</p>
|
||
<p>But if <code class="docutils literal notranslate"><span class="pre">use_contact_forces=True</span></code>
|
||
The total reward returned is <em><strong>reward</strong></em> <em>=</em> <em>healthy_reward + forward_reward - ctrl_cost - contact_cost</em>.</p>
|
||
<p>In either case <code class="docutils literal notranslate"><span class="pre">info</span></code> will also contain the individual reward terms.</p>
|
||
</section>
|
||
<section id="starting-state">
|
||
<h2>Starting State<a class="headerlink" href="#starting-state" title="Permalink to this heading">#</a></h2>
|
||
<p>All observations start in state
|
||
(0.0, 0.0, 0.75, 1.0, 0.0 … 0.0) with a uniform noise in the range
|
||
of [-<code class="docutils literal notranslate"><span class="pre">reset_noise_scale</span></code>, <code class="docutils literal notranslate"><span class="pre">reset_noise_scale</span></code>] added to the positional values and standard normal noise
|
||
with mean 0 and standard deviation <code class="docutils literal notranslate"><span class="pre">reset_noise_scale</span></code> added to the velocity values for
|
||
stochasticity. Note that the initial z coordinate is intentionally selected
|
||
to be slightly high, thereby indicating a standing up ant. The initial orientation
|
||
is designed to make it face forward as well.</p>
|
||
</section>
|
||
<section id="episode-end">
|
||
<h2>Episode End<a class="headerlink" href="#episode-end" title="Permalink to this heading">#</a></h2>
|
||
<p>The ant is said to be unhealthy if any of the following happens:</p>
|
||
<ol class="arabic simple">
|
||
<li><p>Any of the state space values is no longer finite</p></li>
|
||
<li><p>The z-coordinate of the torso is <strong>not</strong> in the closed interval given by <code class="docutils literal notranslate"><span class="pre">healthy_z_range</span></code> (defaults to [0.2, 1.0])</p></li>
|
||
</ol>
|
||
<p>If <code class="docutils literal notranslate"><span class="pre">terminate_when_unhealthy=True</span></code> is passed during construction (which is the default),
|
||
the episode ends when any of the following happens:</p>
|
||
<ol class="arabic simple">
|
||
<li><p>Truncation: The episode duration reaches a 1000 timesteps</p></li>
|
||
<li><p>Termination: The ant is unhealthy</p></li>
|
||
</ol>
|
||
<p>If <code class="docutils literal notranslate"><span class="pre">terminate_when_unhealthy=False</span></code> is passed, the episode is ended only when 1000 timesteps are exceeded.</p>
|
||
</section>
|
||
<section id="arguments">
|
||
<h2>Arguments<a class="headerlink" href="#arguments" title="Permalink to this heading">#</a></h2>
|
||
<p>No additional arguments are currently supported in v2 and lower.</p>
|
||
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">gymnasium</span> <span class="k">as</span> <span class="nn">gym</span>
|
||
<span class="n">env</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">make</span><span class="p">(</span><span class="s1">'Ant-v2'</span><span class="p">)</span>
|
||
</pre></div>
|
||
</div>
|
||
<p>v3 and v4 take <code class="docutils literal notranslate"><span class="pre">gymnasium.make</span></code> kwargs such as <code class="docutils literal notranslate"><span class="pre">xml_file</span></code>, <code class="docutils literal notranslate"><span class="pre">ctrl_cost_weight</span></code>, <code class="docutils literal notranslate"><span class="pre">reset_noise_scale</span></code>, etc.</p>
|
||
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">gymnasium</span> <span class="k">as</span> <span class="nn">gym</span>
|
||
<span class="n">env</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">make</span><span class="p">(</span><span class="s1">'Ant-v4'</span><span class="p">,</span> <span class="n">ctrl_cost_weight</span><span class="o">=</span><span class="mf">0.1</span><span class="p">,</span> <span class="o">...</span><span class="p">)</span>
|
||
</pre></div>
|
||
</div>
|
||
<div class="table-wrapper colwidths-auto docutils container">
|
||
<table class="docutils align-default">
|
||
<thead>
|
||
<tr class="row-odd"><th class="head"><p>Parameter</p></th>
|
||
<th class="head"><p>Type</p></th>
|
||
<th class="head"><p>Default</p></th>
|
||
<th class="head"><p>Description</p></th>
|
||
</tr>
|
||
</thead>
|
||
<tbody>
|
||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">xml_file</span></code></p></td>
|
||
<td><p><strong>str</strong></p></td>
|
||
<td><p><code class="docutils literal notranslate"><span class="pre">"ant.xml"</span></code></p></td>
|
||
<td><p>Path to a MuJoCo model</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">ctrl_cost_weight</span></code></p></td>
|
||
<td><p><strong>float</strong></p></td>
|
||
<td><p><code class="docutils literal notranslate"><span class="pre">0.5</span></code></p></td>
|
||
<td><p>Weight for <em>ctrl_cost</em> term (see section on reward)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">use_contact_forces</span></code></p></td>
|
||
<td><p><strong>bool</strong></p></td>
|
||
<td><p><code class="docutils literal notranslate"><span class="pre">False</span></code></p></td>
|
||
<td><p>If true, it extends the observation space by adding contact forces (see <code class="docutils literal notranslate"><span class="pre">Observation</span> <span class="pre">Space</span></code> section) and includes contact_cost to the reward function (see <code class="docutils literal notranslate"><span class="pre">Rewards</span></code> section)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">contact_cost_weight</span></code></p></td>
|
||
<td><p><strong>float</strong></p></td>
|
||
<td><p><code class="docutils literal notranslate"><span class="pre">5e-4</span></code></p></td>
|
||
<td><p>Weight for <em>contact_cost</em> term (see section on reward)</p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">healthy_reward</span></code></p></td>
|
||
<td><p><strong>float</strong></p></td>
|
||
<td><p><code class="docutils literal notranslate"><span class="pre">1</span></code></p></td>
|
||
<td><p>Constant reward given if the ant is “healthy” after timestep</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">terminate_when_unhealthy</span></code></p></td>
|
||
<td><p><strong>bool</strong></p></td>
|
||
<td><p><code class="docutils literal notranslate"><span class="pre">True</span></code></p></td>
|
||
<td><p>If true, issue a done signal if the z-coordinate of the torso is no longer in the <code class="docutils literal notranslate"><span class="pre">healthy_z_range</span></code></p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">healthy_z_range</span></code></p></td>
|
||
<td><p><strong>tuple</strong></p></td>
|
||
<td><p><code class="docutils literal notranslate"><span class="pre">(0.2,</span> <span class="pre">1)</span></code></p></td>
|
||
<td><p>The ant is considered healthy if the z-coordinate of the torso is in this range</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">contact_force_range</span></code></p></td>
|
||
<td><p><strong>tuple</strong></p></td>
|
||
<td><p><code class="docutils literal notranslate"><span class="pre">(-1,</span> <span class="pre">1)</span></code></p></td>
|
||
<td><p>Contact forces are clipped to this range in the computation of <em>contact_cost</em></p></td>
|
||
</tr>
|
||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">reset_noise_scale</span></code></p></td>
|
||
<td><p><strong>float</strong></p></td>
|
||
<td><p><code class="docutils literal notranslate"><span class="pre">0.1</span></code></p></td>
|
||
<td><p>Scale of random perturbations of initial position and velocity (see section on Starting State)</p></td>
|
||
</tr>
|
||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">exclude_current_positions_from_observation</span></code></p></td>
|
||
<td><p><strong>bool</strong></p></td>
|
||
<td><p><code class="docutils literal notranslate"><span class="pre">True</span></code></p></td>
|
||
<td><p>Whether or not to omit the x- and y-coordinates from observations. Excluding the position can serve as an inductive bias to induce position-agnostic behavior in policies</p></td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
</div>
|
||
</section>
|
||
<section id="version-history">
|
||
<h2>Version History<a class="headerlink" href="#version-history" title="Permalink to this heading">#</a></h2>
|
||
<ul class="simple">
|
||
<li><p>v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3, also removed contact forces from the default observation space (new variable <code class="docutils literal notranslate"><span class="pre">use_contact_forces=True</span></code> can restore them)</p></li>
|
||
<li><p>v3: Support for <code class="docutils literal notranslate"><span class="pre">gymnasium.make</span></code> kwargs such as <code class="docutils literal notranslate"><span class="pre">xml_file</span></code>, <code class="docutils literal notranslate"><span class="pre">ctrl_cost_weight</span></code>, <code class="docutils literal notranslate"><span class="pre">reset_noise_scale</span></code>, etc. rgb rendering comes from tracking camera (so agent does not run away from screen)</p></li>
|
||
<li><p>v2: All continuous control environments now use mujoco-py >= 1.50</p></li>
|
||
<li><p>v1: max_time_steps raised to 1000 for robot based tasks. Added reward_threshold to environments.</p></li>
|
||
<li><p>v0: Initial versions release (1.0.0)</p></li>
|
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<ul>
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<li><a class="reference internal" href="#">Ant</a><ul>
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<li><a class="reference internal" href="#description">Description</a></li>
|
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<li><a class="reference internal" href="#action-space">Action Space</a></li>
|
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<li><a class="reference internal" href="#observation-space">Observation Space</a></li>
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<li><a class="reference internal" href="#rewards">Rewards</a></li>
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