[Bug Report] AntEnv obs[:2] is not x, y but z coordinate and x-orientation

Farama-Foundation / Gymnasium-Robotics

A collection of robotics simulation environments for reinforcement learning

https://robotics.farama.org/

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[Bug Report] AntEnv obs[:2] is not x, y but z coordinate and x-orientation #181

Closed llewynS closed 9 months ago

llewynS commented 9 months ago

Describe the bug The _get_obs function does the following transformation to the observation space achieved_goal = ant_obs[:2] observation = ant_obs[2:] But reading AntEnv V4 the pos 0 and pos 1 observations are not the final x and y coordinates. As the antenv is directly queried and no computation is done in the environment it's clear that this is an error.

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Kallinteris-Andreas commented 9 months ago

The first 2 are the X&Y coordinates of the torso, which are excluded by default, you can read more on the gymansium 1.0 DOCs https://gymnasium.farama.org/main/environments/mujoco/ant/#observation-space

llewynS commented 9 months ago

From your link this is not correct. First two are the z coordinate and the x-orientation as I stated.

Kallinteris-Andreas commented 9 months ago

Read the description above the table (and the excluded observations are in the bottom of the table)