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MuJoCo/Ant clarify the lack of use_contact_forces on v3 (and older) #342

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Feb 21, 2023
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MuJoCo/Ant clarify the lack of use_contact_forces on v3 (and older) #342

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4 changes: 2 additions & 2 deletions gymnasium/envs/mujoco/ant_v4.py
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Original file line number Diff line number Diff line change
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) |


If `use_contact_forces` is `True` then the observation space is extended by 14*6 = 84 elements, which are contact forces
If version < `v4` or `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 @@ -116,7 +116,7 @@ class AntEnv(MujocoEnv, utils.EzPickle):

The total reward returned is ***reward*** *=* *healthy_reward + forward_reward - ctrl_cost*.

But if `use_contact_forces=True`
But if `use_contact_forces=True` or version < `v4`
The total reward returned is ***reward*** *=* *healthy_reward + forward_reward - ctrl_cost - contact_cost*.

In either case `info` will also contain the individual reward terms.
Expand Down