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google-deepmind / mujoco

Multi-Joint dynamics with Contact. A general purpose physics simulator.
https://mujoco.org
Apache License 2.0
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What is `qpos` actually? (A suggestion to improve the documentation) #1510

Open Kallinteris-Andreas opened 5 months ago

Kallinteris-Andreas commented 5 months ago

Hi,

I'm a maintainer of Gymnasium & the project manager of Gymnasium-Robotics, and I'm trying to use MuJoCo for "

qpos is the generalized coordinates of joints (according to https://mujoco.readthedocs.io/en/stable/computation/index.html#physics-state)

But what "coordinates" exactly? It appears to be relative to the original position.

But for free joints It is the absolute coordinates relative to (0, 0, 0) (which is stated in https://mujoco.readthedocs.io/en/stable/overview.html#floating-objects)

yuvaltassa commented 5 months ago

Do you want to make your suggestion in the form of a PR?