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fix Quaternion order in Ant, Humanoids Documentation (#1173)
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@Kallinteris-Andreas
Kallinteris-Andreas authored Sep 25, 2024
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Showing 3 changed files with 12 additions and 12 deletions.
8 changes: 4 additions & 4 deletions gymnasium/envs/mujoco/ant_v5.py
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Expand Up @@ -61,10 +61,10 @@ class AntEnv(MujocoEnv, utils.EzPickle):
| Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Type (Unit) |
|-----|--------------------------------------------------------------|--------|--------|----------------------------------------|-------|--------------------------|
| 0 | z-coordinate of the torso (centre) | -Inf | Inf | root | free | position (m) |
| 1 | x-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) |
| 2 | y-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) |
| 3 | z-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) |
| 4 | w-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) |
| 1 | w-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) |
| 2 | x-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) |
| 3 | y-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) |
| 4 | z-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) |
| 5 | angle between torso and first link on front left | -Inf | Inf | hip_1 (front_left_leg) | hinge | angle (rad) |
| 6 | angle between the two links on the front left | -Inf | Inf | ankle_1 (front_left_leg) | hinge | angle (rad) |
| 7 | angle between torso and first link on front right | -Inf | Inf | hip_2 (front_right_leg) | hinge | angle (rad) |
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8 changes: 4 additions & 4 deletions gymnasium/envs/mujoco/humanoid_v5.py
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Expand Up @@ -92,10 +92,10 @@ class HumanoidEnv(MujocoEnv, utils.EzPickle):
| Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Type (Unit) |
| --- | --------------------------------------------------------------------------------------------------------------- | ---- | --- | -------------------------------- | ----- | -------------------------- |
| 0 | z-coordinate of the torso (centre) | -Inf | Inf | root | free | position (m) |
| 1 | x-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) |
| 2 | y-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) |
| 3 | z-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) |
| 4 | w-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) |
| 1 | w-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) |
| 2 | x-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) |
| 3 | y-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) |
| 4 | z-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) |
| 5 | z-angle of the abdomen (in lower_waist) | -Inf | Inf | abdomen_z | hinge | angle (rad) |
| 6 | y-angle of the abdomen (in lower_waist) | -Inf | Inf | abdomen_y | hinge | angle (rad) |
| 7 | x-angle of the abdomen (in pelvis) | -Inf | Inf | abdomen_x | hinge | angle (rad) |
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8 changes: 4 additions & 4 deletions gymnasium/envs/mujoco/humanoidstandup_v5.py
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Expand Up @@ -86,10 +86,10 @@ class HumanoidStandupEnv(MujocoEnv, utils.EzPickle):
| Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Type (Unit) |
| --- | --------------------------------------------------------------------------------------------------------------- | ---- | --- | -------------------------------- | ----- | -------------------------- |
| 0 | z-coordinate of the torso (centre) | -Inf | Inf | root | free | position (m) |
| 1 | x-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) |
| 2 | y-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) |
| 3 | z-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) |
| 4 | w-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) |
| 1 | w-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) |
| 2 | x-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) |
| 3 | y-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) |
| 4 | z-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) |
| 5 | z-angle of the abdomen (in lower_waist) | -Inf | Inf | abdomen_z | hinge | angle (rad) |
| 6 | y-angle of the abdomen (in lower_waist) | -Inf | Inf | abdomen_y | hinge | angle (rad) |
| 7 | x-angle of the abdomen (in pelvis) | -Inf | Inf | abdomen_x | hinge | angle (rad) |
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