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MuJoCo.Ant-v4.use_contact_forces add doc #183

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Dec 5, 2022
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MuJoCo.Ant-v4.use_contact_forces add doc #183

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3 changes: 2 additions & 1 deletion gymnasium/envs/mujoco/ant_v4.py
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Expand Up @@ -84,7 +84,7 @@ class AntEnv(MujocoEnv, utils.EzPickle):
| 26 |angular velocity of the angle between back right links | -Inf | Inf | ankle_4 (right_back_leg) | hinge | angle (rad) |


The remaining 14*6 = 84 elements of the observation are contact forces
If `use_contact_forces` is `True` then the observation space is extended by 14*6 = 84 elements, which are contact forces
(external forces - force x, y, z and torque x, y, z) applied to the
center of mass of each of the links. The 14 links are: the ground link,
the torso link, and 3 links for each leg (1 + 1 + 12) with the 6 external forces.
Expand Down Expand Up @@ -159,6 +159,7 @@ class AntEnv(MujocoEnv, utils.EzPickle):
|-------------------------|------------|--------------|-------------------------------|
| `xml_file` | **str** | `"ant.xml"` | Path to a MuJoCo model |
| `ctrl_cost_weight` | **float** | `0.5` | Weight for *ctrl_cost* term (see section on reward) |
| `use_contact_forces` | **bool** | `False` | If true, it extends the observation space by adding contact forces (see `Observation Space` section)
| `contact_cost_weight` | **float** | `5e-4` | Weight for *contact_cost* term (see section on reward) |
| `healthy_reward` | **float** | `1` | Constant reward given if the ant is "healthy" after timestep |
| `terminate_when_unhealthy` | **bool**| `True` | If true, issue a done signal if the z-coordinate of the torso is no longer in the `healthy_z_range` |
Expand Down