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Farama-Foundation / Gymnasium-Robotics

A collection of robotics simulation environments for reinforcement learning
https://robotics.farama.org/
MIT License
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[Question] Lib version mismatch? #144

Closed zichunxx closed 1 year ago

zichunxx commented 1 year ago

Question

Hi!

I'm working with FrankaKitchen-v1 env and notice that the action which is not denormalized is passed to the function do_simulation in franka_env.py in my virtual env.

# Denormalize the input action from [-1, 1] range to the each actuators control range
self.data.ctrl[:] = self.actuation_center + action * self.actuation_range
self.do_simulation(action, self.frame_skip)
if self.render_mode == "human":
    self.render()

Meanwhile, in this line, the denormalized action is correctly passed to the function do_simulation.

I have installed the main branch of Gymnasium-Robotics by pip install and the version is 1.2.0, but why the corresponding code snippet is different?

Kallinteris-Andreas commented 1 year ago

It will be fixed next release it was fixed in commit: https://github.com/Farama-Foundation/Gymnasium-Robotics/commit/fa991f3387b80f67dd80786e98710d5922e71a11

zichunxx commented 1 year ago

Thanks

Kallinteris-Andreas commented 1 year ago

@QUIlToT you can use the git version in the meantime

zichunxx commented 1 year ago

Thanks for your kind reminder, I just installed it! @Kallinteris-Andreas