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Farama-Foundation / Gymnasium

An API standard for single-agent reinforcement learning environments, with popular reference environments and related utilities (formerly Gym)
https://gymnasium.farama.org
MIT License
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[Bug Report] FetchReach-v3 Incorrect Base Position #1262

Closed SethPate closed 2 days ago

SethPate commented 2 days ago

Describe the bug

Per docs "The base of the robot will always be fixed at (x,y,z) = [0.405, 0.48, 0] in global coordinates."

Base position is actually 0,0,0. At full extension the gripper is still out of reach of most goal points.

image

Poor guy can't quite reach it.

Code example

import gymnasium
import gymnasium_robotics

env = gymnasium.make('FetchReach-v3', render_mode='human')
unwrapped = env.unwrapped
print("Initial gripper:", unwrapped.initial_gripper_xpos)
print("Goal:", unwrapped.goal)
print("Base position:", unwrapped.data.qpos[:3])

env.reset()
# Check if base position is still [0,0,0] after reset
print("Base position after reset:", unwrapped.data.qpos[:3])

System info

pip install gymnasium, gymnasium-robotics gymnasium version 1.0.0 Mac OS Sonoma Python 3.11.9

Additional context

No response

Checklist

SethPate commented 2 days ago

Withdrawing this as I should have submitted it to gymnasium-robotics, sorry.