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[Bug Report] MuJoCo Ant
& Humanoid
have wrong "x_position" & "y_position" info
#521
Comments
@Kallinteris-Andreas could you make tests and update the code. I think we can make the changes in the v4 environments without a version change due to how infrequently |
I would rather not (by that logic, we should fix |
@rodrigodelazcano is there a reason the |
The info was giving if anyone is interested as to why it could have been implemented this way you can read |
Describe the bug
For the
Humanoid
andAnt
theinfo['x_position']
andinfo['y_position']
are not the same as the observations whenexclude_current_positions_from_observation=False
is passed. (which is what the documentation suggests)In general, I see no unit tests for MuJoCo
info
Humanoid
The humanoid returns the center of mass instead of
qpos[0:2]
Gymnasium/gymnasium/envs/mujoco/humanoid_v4.py
Line 378 in ae5d888
Gymnasium/gymnasium/envs/mujoco/humanoid_v4.py
Lines 397 to 398 in ae5d888
Ant
The humanoid returns the
get_body_com('torso')[0:2]
instead ofqpos[0:2]
Gymnasium/gymnasium/envs/mujoco/ant_v4.py
Line 315 in ae5d888
Gymnasium/gymnasium/envs/mujoco/ant_v4.py
Lines 333 to 334 in ae5d888
Code example
System info
$ pip list | grep gym gym 0.26.2 gym-notices 0.0.8 gymnasium 0.28.1 gymnasium-notices 0.0.1 gymnasium-robotics 1.2.2
Additional context
['HalfCheetah-v5', 'Hopper-v5', 'HumanoidStandup-v5', 'Swimmer-v5', 'Walker2d-v5']
are not affectedChecklist
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