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AIcrowd / real_robots

Gym environments for Robots that learn to interact with the environment autonomously
https://www.aicrowd.com/challenges/neurips-2019-robot-open-ended-autonomous-learning
MIT License
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range value of 1 node #21

Closed vitiennam closed 4 years ago

vitiennam commented 4 years ago

Hi,

Could you tell me the range value of 1 element in observation["joint_positions"] ???

Thanks

emilio-cartoni commented 4 years ago

Dear @kimchicanh , the range values for the elements of observation["joint_positions"] should be the same as the range for the action: i.e. between -pi/2 and +pi/2 for the first 7 joints and between 0 and +pi/2 for the gripper joints. For more details, see https://github.com/AIcrowd/real_robots/blob/master/environment.md and also this recent discussion thread: https://discourse.aicrowd.com/t/strange-realrobot-v0-environment-properties/1857/3

Edit: I have observed that sometimes the joints may exceed their range when the arm is in contact with other objects (i.e. pushing against the table).