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Rename rotors in mujoco swimmer env #3036

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Aug 22, 2022
Merged

Rename rotors in mujoco swimmer env #3036

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10 changes: 5 additions & 5 deletions gym/envs/mujoco/assets/swimmer.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -21,19 +21,19 @@
<geom density="1000" fromto="1.5 0 0 0.5 0 0" size="0.1" type="capsule"/>
<joint axis="1 0 0" name="slider1" pos="0 0 0" type="slide"/>
<joint axis="0 1 0" name="slider2" pos="0 0 0" type="slide"/>
<joint axis="0 0 1" name="rot" pos="0 0 0" type="hinge"/>
<joint axis="0 0 1" name="free_body_rot" pos="0 0 0" type="hinge"/>
<body name="mid" pos="0.5 0 0">
<geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
<joint axis="0 0 1" limited="true" name="rot2" pos="0 0 0" range="-100 100" type="hinge"/>
<joint axis="0 0 1" limited="true" name="motor1_rot" pos="0 0 0" range="-100 100" type="hinge"/>
<body name="back" pos="-1 0 0">
<geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
<joint axis="0 0 1" limited="true" name="rot3" pos="0 0 0" range="-100 100" type="hinge"/>
<joint axis="0 0 1" limited="true" name="motor2_rot" pos="0 0 0" range="-100 100" type="hinge"/>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot2"/>
<motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot3"/>
<motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="motor1_rot"/>
<motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="motor2_rot"/>
</actuator>
</mujoco>
16 changes: 8 additions & 8 deletions gym/envs/mujoco/swimmer_v4.py
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Original file line number Diff line number Diff line change
Expand Up @@ -42,8 +42,8 @@ class SwimmerEnv(MujocoEnv, utils.EzPickle):

| Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit |
|-----|------------------------------------|-------------|-------------|----------------------------------|-------|--------------|
| 0 | Torque applied on the first rotor | -1 | 1 | rot2 | hinge | torque (N m) |
| 1 | Torque applied on the second rotor | -1 | 1 | rot3 | hinge | torque (N m) |
| 0 | Torque applied on the first rotor | -1 | 1 | motor1_rot | hinge | torque (N m) |
| 1 | Torque applied on the second rotor | -1 | 1 | motor2_rot | hinge | torque (N m) |

### Observation Space

Expand All @@ -62,14 +62,14 @@ class SwimmerEnv(MujocoEnv, utils.EzPickle):

| Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Unit |
| --- | ------------------------------------ | ---- | --- | -------------------------------- | ----- | ------------------------ |
| 0 | angle of the front tip | -Inf | Inf | rot | hinge | angle (rad) |
| 1 | angle of the first rotor | -Inf | Inf | rot2 | hinge | angle (rad) |
| 2 | angle of the second rotor | -Inf | Inf | rot3 | hinge | angle (rad) |
| 0 | angle of the front tip | -Inf | Inf | free_body_rot | hinge | angle (rad) |
| 1 | angle of the first rotor | -Inf | Inf | motor1_rot | hinge | angle (rad) |
| 2 | angle of the second rotor | -Inf | Inf | motor2_rot | hinge | angle (rad) |
| 3 | velocity of the tip along the x-axis | -Inf | Inf | slider1 | slide | velocity (m/s) |
| 4 | velocity of the tip along the y-axis | -Inf | Inf | slider2 | slide | velocity (m/s) |
| 5 | angular velocity of front tip | -Inf | Inf | rot | hinge | angular velocity (rad/s) |
| 6 | angular velocity of first rotor | -Inf | Inf | rot2 | hinge | angular velocity (rad/s) |
| 7 | angular velocity of second rotor | -Inf | Inf | rot3 | hinge | angular velocity (rad/s) |
| 5 | angular velocity of front tip | -Inf | Inf | free_body_rot | hinge | angular velocity (rad/s) |
| 6 | angular velocity of first rotor | -Inf | Inf | motor1_rot | hinge | angular velocity (rad/s) |
| 7 | angular velocity of second rotor | -Inf | Inf | motor2_rot | hinge | angular velocity (rad/s) |

### Rewards
The reward consists of two parts:
Expand Down