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Merge pull request #197 from SethPate/main
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update observation space docstring for `fetch` `pick_and_place` `push` `slide` environments
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@Kallinteris-Andreas
Kallinteris-Andreas authored Dec 23, 2023
2 parents 055be6a + f822c40 commit 604a10f
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6 changes: 3 additions & 3 deletions gymnasium_robotics/envs/fetch/pick_and_place.py
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Expand Up @@ -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 x<sub>gripper</sub> - x<sub>block</sub> | -Inf | Inf | object0 |- |- | position (m) |
| 7 | Relative block y position with respect to gripper y position in globla coordinates. Equals to y<sub>gripper</sub> - y<sub>block</sub> | -Inf | Inf | object0 |- |- | position (m) |
| 8 | Relative block z position with respect to gripper z position in globla coordinates. Equals to z<sub>gripper</sub> - z<sub>block</sub> | -Inf | Inf | object0 |- |- | position (m) |
| 6 | Relative block x position with respect to gripper x position in global coordinates. Equals to x<sub>block</sub> - x<sub>gripper</sub> | -Inf | Inf | object0 |- |- | position (m) |
| 7 | Relative block y position with respect to gripper y position in global coordinates. Equals to y<sub>block</sub> - y<sub>gripper</sub> | -Inf | Inf | object0 |- |- | position (m) |
| 8 | Relative block z position with respect to gripper z position in global coordinates. Equals to z<sub>block</sub> - z<sub>gripper</sub> | -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) |
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6 changes: 3 additions & 3 deletions gymnasium_robotics/envs/fetch/push.py
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Expand Up @@ -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 x<sub>gripper</sub> - x<sub>block</sub> | -Inf | Inf | object0 |- |- | position (m) |
| 7 | Relative block y position with respect to gripper y position in globla coordinates. Equals to y<sub>gripper</sub> - y<sub>block</sub> | -Inf | Inf | object0 |- |- | position (m) |
| 8 | Relative block z position with respect to gripper z position in globla coordinates. Equals to z<sub>gripper</sub> - z<sub>block</sub> | -Inf | Inf | object0 |- |- | position (m) |
| 6 | Relative block x position with respect to gripper x position in global coordinates. Equals to x<sub>block</sub> - x<sub>gripper</sub> | -Inf | Inf | object0 |- |- | position (m) |
| 7 | Relative block y position with respect to gripper y position in global coordinates. Equals to y<sub>block</sub> - y<sub>gripper</sub> | -Inf | Inf | object0 |- |- | position (m) |
| 8 | Relative block z position with respect to gripper z position in global coordinates. Equals to z<sub>block</sub> - z<sub>gripper</sub> | -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) |
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6 changes: 3 additions & 3 deletions gymnasium_robotics/envs/fetch/slide.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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 x<sub>gripper</sub> - x<sub>puck</sub> | -Inf | Inf | object0 |- |- | position (m) |
| 7 | Relative puck y position with respect to gripper y position in globla coordinates. Equals to y<sub>gripper</sub> - y<sub>puck</sub> | -Inf | Inf | object0 |- |- | position (m) |
| 8 | Relative puck z position with respect to gripper z position in globla coordinates. Equals to z<sub>gripper</sub> - z<sub>puck</sub> | -Inf | Inf | object0 |- |- | position (m) |
| 6 | Relative puck x position with respect to gripper x position in global coordinates. Equals to x<sub>puck</sub> - x<sub>gripper</sub> | -Inf | Inf | object0 |- |- | position (m) |
| 7 | Relative puck y position with respect to gripper y position in global coordinates. Equals to y<sub>puck</sub> - y<sub>gripper</sub> | -Inf | Inf | object0 |- |- | position (m) |
| 8 | Relative puck z position with respect to gripper z position in global coordinates. Equals to z<sub>puck</sub> - z<sub>gripper</sub> | -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) |
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