From f822c402fd144a8a6ce6da696d6b4355348746b1 Mon Sep 17 00:00:00 2001 From: Seth Pate Date: Thu, 21 Dec 2023 16:43:38 -0500 Subject: [PATCH] update observation space docstring: obs[6:8] is actually block - gripper --- gymnasium_robotics/envs/fetch/pick_and_place.py | 6 +++--- gymnasium_robotics/envs/fetch/push.py | 6 +++--- gymnasium_robotics/envs/fetch/slide.py | 6 +++--- 3 files changed, 9 insertions(+), 9 deletions(-) diff --git a/gymnasium_robotics/envs/fetch/pick_and_place.py b/gymnasium_robotics/envs/fetch/pick_and_place.py index f975c361..b6d0673c 100644 --- a/gymnasium_robotics/envs/fetch/pick_and_place.py +++ b/gymnasium_robotics/envs/fetch/pick_and_place.py @@ -45,9 +45,9 @@ class MujocoFetchPickAndPlaceEnv(MujocoFetchEnv, EzPickle): | 3 | Block x position in global coordinates | -Inf | Inf | object0 |- |- | position (m) | | 4 | Block y position in global coordinates | -Inf | Inf | object0 |- |- | position (m) | | 5 | Block z position in global coordinates | -Inf | Inf | object0 |- |- | position (m) | - | 6 | Relative block x position with respect to gripper x position in globla coordinates. Equals to xgripper - xblock | -Inf | Inf | object0 |- |- | position (m) | - | 7 | Relative block y position with respect to gripper y position in globla coordinates. Equals to ygripper - yblock | -Inf | Inf | object0 |- |- | position (m) | - | 8 | Relative block z position with respect to gripper z position in globla coordinates. Equals to zgripper - zblock | -Inf | Inf | object0 |- |- | position (m) | + | 6 | Relative block x position with respect to gripper x position in global coordinates. Equals to xblock - xgripper | -Inf | Inf | object0 |- |- | position (m) | + | 7 | Relative block y position with respect to gripper y position in global coordinates. Equals to yblock - ygripper | -Inf | Inf | object0 |- |- | position (m) | + | 8 | Relative block z position with respect to gripper z position in global coordinates. Equals to zblock - zgripper | -Inf | Inf | object0 |- |- | position (m) | | 9 | Joint displacement of the right gripper finger | -Inf | Inf |- | robot0:r_gripper_finger_joint | hinge | position (m) | | 10 | Joint displacement of the left gripper finger | -Inf | Inf |- | robot0:l_gripper_finger_joint | hinge | position (m) | | 11 | Global x rotation of the block in a XYZ Euler frame rotation | -Inf | Inf | object0 |- |- | angle (rad) | diff --git a/gymnasium_robotics/envs/fetch/push.py b/gymnasium_robotics/envs/fetch/push.py index 707f850e..57545ac9 100644 --- a/gymnasium_robotics/envs/fetch/push.py +++ b/gymnasium_robotics/envs/fetch/push.py @@ -73,9 +73,9 @@ class MujocoFetchPushEnv(MujocoFetchEnv, EzPickle): | 3 | Block x position in global coordinates | -Inf | Inf | object0 |- |- | position (m) | | 4 | Block y position in global coordinates | -Inf | Inf | object0 |- |- | position (m) | | 5 | Block z position in global coordinates | -Inf | Inf | object0 |- |- | position (m) | - | 6 | Relative block x position with respect to gripper x position in globla coordinates. Equals to xgripper - xblock | -Inf | Inf | object0 |- |- | position (m) | - | 7 | Relative block y position with respect to gripper y position in globla coordinates. Equals to ygripper - yblock | -Inf | Inf | object0 |- |- | position (m) | - | 8 | Relative block z position with respect to gripper z position in globla coordinates. Equals to zgripper - zblock | -Inf | Inf | object0 |- |- | position (m) | + | 6 | Relative block x position with respect to gripper x position in global coordinates. Equals to xblock - xgripper | -Inf | Inf | object0 |- |- | position (m) | + | 7 | Relative block y position with respect to gripper y position in global coordinates. Equals to yblock - ygripper | -Inf | Inf | object0 |- |- | position (m) | + | 8 | Relative block z position with respect to gripper z position in global coordinates. Equals to zblock - zgripper | -Inf | Inf | object0 |- |- | position (m) | | 9 | Joint displacement of the right gripper finger | -Inf | Inf |- | robot0:r_gripper_finger_joint | hinge | position (m) | | 10 | Joint displacement of the left gripper finger | -Inf | Inf |- | robot0:l_gripper_finger_joint | hinge | position (m) | | 11 | Global x rotation of the block in a XYZ Euler frame rotation | -Inf | Inf | object0 |- |- | angle (rad) | diff --git a/gymnasium_robotics/envs/fetch/slide.py b/gymnasium_robotics/envs/fetch/slide.py index 2417f614..bc0dbf4e 100644 --- a/gymnasium_robotics/envs/fetch/slide.py +++ b/gymnasium_robotics/envs/fetch/slide.py @@ -74,9 +74,9 @@ class MujocoFetchSlideEnv(MujocoFetchEnv, EzPickle): | 3 | Puck x position in global coordinates | -Inf | Inf | object0 |- |- | position (m) | | 4 | Puck y position in global coordinates | -Inf | Inf | object0 |- |- | position (m) | | 5 | Puck z position in global coordinates | -Inf | Inf | object0 |- |- | position (m) | - | 6 | Relative puck x position with respect to gripper x position in globla coordinates. Equals to xgripper - xpuck | -Inf | Inf | object0 |- |- | position (m) | - | 7 | Relative puck y position with respect to gripper y position in globla coordinates. Equals to ygripper - ypuck | -Inf | Inf | object0 |- |- | position (m) | - | 8 | Relative puck z position with respect to gripper z position in globla coordinates. Equals to zgripper - zpuck | -Inf | Inf | object0 |- |- | position (m) | + | 6 | Relative puck x position with respect to gripper x position in global coordinates. Equals to xpuck - xgripper | -Inf | Inf | object0 |- |- | position (m) | + | 7 | Relative puck y position with respect to gripper y position in global coordinates. Equals to ypuck - ygripper | -Inf | Inf | object0 |- |- | position (m) | + | 8 | Relative puck z position with respect to gripper z position in global coordinates. Equals to zpuck - zgripper | -Inf | Inf | object0 |- |- | position (m) | | 9 | Joint displacement of the right gripper finger | -Inf | Inf |- | robot0:r_gripper_finger_joint | hinge | position (m) | | 10 | Joint displacement of the left gripper finger | -Inf | Inf |- | robot0:l_gripper_finger_joint | hinge | position (m) | | 11 | Global x rotation of the puck in a XYZ Euler frame rotation | -Inf | Inf | object0 |- |- | angle (rad) |