From c4be8b5e36be385ee19b2b523f78a4379168721e Mon Sep 17 00:00:00 2001 From: Rodrigo de Lazcano Date: Sat, 16 Sep 2023 11:53:09 -0400 Subject: [PATCH] add bulletpoints (#178) Co-authored-by: rodrigodelazcano --- .../envs/shadow_dexterous_hand/reach.py | 210 +++++++++--------- 1 file changed, 105 insertions(+), 105 deletions(-) diff --git a/gymnasium_robotics/envs/shadow_dexterous_hand/reach.py b/gymnasium_robotics/envs/shadow_dexterous_hand/reach.py index cf8d2965..984bd4d6 100644 --- a/gymnasium_robotics/envs/shadow_dexterous_hand/reach.py +++ b/gymnasium_robotics/envs/shadow_dexterous_hand/reach.py @@ -189,115 +189,115 @@ class MujocoHandReachEnv(get_base_hand_reanch_env(MujocoHandEnv)): The observation is a `goal-aware observation space`. It consists of a dictionary with information about the robot's joint and finger states, as well as information about the goal. The finger tip observations are derived from Mujoco bodies known as [sites](https://mujoco.readthedocs.io/en/latest/XMLreference.html?highlight=site#body-site) attached to the body of interest such as the finger tips. The dictionary consists of the following 3 keys: - `observation`: its value is an `ndarray` of shape `(63,)`. It consists of kinematic information of the block object and gripper. The elements of the array correspond to the following: - - | Num | Observation | Min | Max | Joint Name (in corresponding XML file) | Site Name (in corresponding XML file) |Joint Type| Unit | - |-----|-------------------------------------------------------------------|--------|--------|----------------------------------------|---------------------------------------|----------|------------------------- | - | 0 | Angular position of the horizontal wrist joint | -Inf | Inf | robot0:WRJ1 | - | hinge | angle (rad) | - | 1 | Angular position of the vertical wrist joint | -Inf | Inf | robot0:WRJ0 | - | hinge | angle (rad) | - | 2 | Horizontal angular position of the MCP joint of the forefinger | -Inf | Inf | robot0:FFJ3 | - | hinge | angle (rad) | - | 3 | Vertical angular position of the MCP joint of the forefinge | -Inf | Inf | robot0:FFJ2 | - | hinge | angle (rad) | - | 4 | Angular position of the PIP joint of the forefinger | -Inf | Inf | robot0:FFJ1 | - | hinge | angle (rad) | - | 5 | Angular position of the DIP joint of the forefinger | -Inf | Inf | robot0:FFJ0 | - | hinge | angle (rad) | - | 6 | Horizontal angular position of the MCP joint of the middle finger | -Inf | Inf | robot0:MFJ3 | - | hinge | angle (rad) | - | 7 | Vertical angular position of the MCP joint of the middle finger | -Inf | Inf | robot0:MFJ2 | - | hinge | angle (rad) | - | 8 | Angular position of the PIP joint of the middle finger | -Inf | Inf | robot0:MFJ1 | - | hinge | angle (rad) | - | 9 | Angular position of the DIP joint of the middle finger | -Inf | Inf | robot0:MFJ0 | - | hinge | angle (rad) | - | 10 | Horizontal angular position of the MCP joint of the ring finger | -Inf | Inf | robot0:RFJ3 | - | hinge | angle (rad) | - | 11 | Vertical angular position of the MCP joint of the ring finger | -Inf | Inf | robot0:RFJ2 | - | hinge | angle (rad) | - | 12 | Angular position of the PIP joint of the ring finger | -Inf | Inf | robot0:RFJ1 | - | hinge | angle (rad) | - | 13 | Angular position of the DIP joint of the ring finger | -Inf | Inf | robot0:RFJ0 | - | hinge | angle (rad) | - | 14 | Angular position of the CMC joint of the little finger | -Inf | Inf | robot0:LFJ4 | - | hinge | angle (rad) | - | 15 | Horizontal angular position of the MCP joint of the little finger | -Inf | Inf | robot0:LFJ3 | - | hinge | angle (rad) | - | 16 | Vertical angular position of the MCP joint of the little finger | -Inf | Inf | robot0:LFJ2 | - | hinge | angle (rad) | - | 17 | Angular position of the PIP joint of the little finger | -Inf | Inf | robot0:LFJ1 | - | hinge | angle (rad) | - | 18 | Angular position of the DIP joint of the little finger | -Inf | Inf | robot0:LFJ0 | - | hinge | angle (rad) | - | 19 | Horizontal angular position of the CMC joint of the thumb finger | -Inf | Inf | robot0:THJ4 | - | hinge | angle (rad) | - | 20 | Vertical Angular position of the CMC joint of the thumb finger | -Inf | Inf | robot0:THJ3 | - | hinge | angle (rad) | - | 21 | Horizontal angular position of the MCP joint of the thumb finger | -Inf | Inf | robot0:THJ2 | - | hinge | angle (rad) | - | 22 | Vertical angular position of the MCP joint of the thumb finger | -Inf | Inf | robot0:THJ1 | - | hinge | angle (rad) | - | 23 | Angular position of the IP joint of the thumb finger | -Inf | Inf | robot0:THJ0 | - | hinge | angle (rad) | - | 24 | Angular velocity of the horizontal wrist joint | -Inf | Inf | robot0:WRJ1 | - | hinge | angular velocity (rad/s) | - | 25 | Angular velocity of the vertical wrist joint | -Inf | Inf | robot0:WRJ0 | - | hinge | angular velocity (rad/s) | - | 26 | Horizontal angular velocity of the MCP joint of the forefinger | -Inf | Inf | robot0:FFJ3 | - | hinge | angular velocity (rad/s) | - | 27 | Vertical angular velocity of the MCP joint of the forefinge | -Inf | Inf | robot0:FFJ2 | - | hinge | angular velocity (rad/s) | - | 28 | Angular velocity of the PIP joint of the forefinger | -Inf | Inf | robot0:FFJ1 | - | hinge | angular velocity (rad/s) | - | 29 | Angular velocity of the DIP joint of the forefinger | -Inf | Inf | robot0:FFJ0 | - | hinge | angular velocity (rad/s) | - | 30 | Horizontal angular velocity of the MCP joint of the middle finger | -Inf | Inf | robot0:MFJ3 | - | hinge | angular velocity (rad/s) | - | 31 | Vertical angular velocity of the MCP joint of the middle finger | -Inf | Inf | robot0:MFJ2 | - | hinge | angular velocity (rad/s) | - | 32 | Angular velocity of the PIP joint of the middle finger | -Inf | Inf | robot0:MFJ1 | - | hinge | angular velocity (rad/s) | - | 33 | Angular velocity of the DIP joint of the middle finger | -Inf | Inf | robot0:MFJ0 | - | hinge | angular velocity (rad/s) | - | 34 | Horizontal angular velocity of the MCP joint of the ring finger | -Inf | Inf | robot0:RFJ3 | - | hinge | angular velocity (rad/s) | - | 35 | Vertical angular velocity of the MCP joint of the ring finger | -Inf | Inf | robot0:RFJ2 | - | hinge | angular velocity (rad/s) | - | 36 | Angular velocity of the PIP joint of the ring finger | -Inf | Inf | robot0:RFJ1 | - | hinge | angular velocity (rad/s) | - | 37 | Angular velocity of the DIP joint of the ring finger | -Inf | Inf | robot0:RFJ0 | - | hinge | angular velocity (rad/s) | - | 38 | Angular velocity of the CMC joint of the little finger | -Inf | Inf | robot0:LFJ4 | - | hinge | angular velocity (rad/s) | - | 39 | Horizontal angular velocity of the MCP joint of the little finger | -Inf | Inf | robot0:LFJ3 | - | hinge | angular velocity (rad/s) | - | 40 | Vertical angular velocity of the MCP joint of the little finger | -Inf | Inf | robot0:LFJ2 | - | hinge | angular velocity (rad/s) | - | 41 | Angular velocity of the PIP joint of the little finger | -Inf | Inf | robot0:LFJ1 | - | hinge | angular velocity (rad/s) | - | 42 | Angular velocity of the DIP joint of the little finger | -Inf | Inf | robot0:LFJ0 | - | hinge | angular velocity (rad/s) | - | 43 | Horizontal angular velocity of the CMC joint of the thumb finger | -Inf | Inf | robot0:THJ4 | - | hinge | angular velocity (rad/s) | - | 44 | Vertical Angular velocity of the CMC joint of the thumb finger | -Inf | Inf | robot0:THJ3 | - | hinge | angular velocity (rad/s) | - | 45 | Horizontal angular velocity of the MCP joint of the thumb finger | -Inf | Inf | robot0:THJ2 | - | hinge | angular velocity (rad/s) | - | 46 | Vertical angular position of the MCP joint of the thumb finger | -Inf | Inf | robot0:THJ1 | - | hinge | angular velocity (rad/s) | - | 47 | Angular velocity of the IP joint of the thumb finger | -Inf | Inf | robot0:THJ0 | - | hinge | angular velocity (rad/s) | - | 48 | x coordinate of the tip of the forefinger | -Inf | Inf | - | robot0:S_fftip | - | position (m) | - | 49 | y coordinate of the tip of the forefinger | -Inf | Inf | - | robot0:S_fftip | - | position (m) | - | 50 | z coordinate of the tip of the forefinger | -Inf | Inf | - | robot0:S_fftip | - | position (m) | - | 51 | x coordinate of the tip of the middle finger | -Inf | Inf | - | robot0:S_mftip | - | position (m) | - | 52 | y coordinate of the tip of the middle finger | -Inf | Inf | - | robot0:S_mftip | - | position (m) | - | 53 | z coordinate of the tip of the middle finger | -Inf | Inf | - | robot0:S_mftip | - | position (m) | - | 54 | x coordinate of the tip of the ring finger | -Inf | Inf | - | robot0:S_rftip | - | position (m) | - | 55 | y coordinate of the tip of the ring finger | -Inf | Inf | - | robot0:S_rftip | - | position (m) | - | 56 | z coordinate of the tip of the ring finger | -Inf | Inf | - | robot0:S_rftip | - | position (m) | - | 57 | x coordinate of the tip of the little finger | -Inf | Inf | - | robot0:S_lftip | - | position (m) | - | 58 | y coordinate of the tip of the little finger | -Inf | Inf | - | robot0:S_lftip | - | position (m) | - | 59 | z coordinate of the tip of the little finger | -Inf | Inf | - | robot0:S_lftip | - | position (m) | - | 60 | x coordinate of the tip of the thumb finger | -Inf | Inf | - | robot0:S_thtip | - | position (m) | - | 61 | y coordinate of the tip of the thumb finger | -Inf | Inf | - | robot0:S_thtip | - | position (m) | - | 62 | z coordinate of the tip of the thumb finger | -Inf | Inf | - | robot0:S_thtip | - | position (m) | - - `desired_goal`: this key represents the final goal to be achieved. In this environment it is a 15-dimensional `ndarray`, `(15,)`, that consists of the 15 cartesian coordinates of the desired final finger tip position `[x,y,z]`. + * `observation`: its value is an `ndarray` of shape `(63,)`. It consists of kinematic information of the block object and gripper. The elements of the array correspond to the following: + + | Num | Observation | Min | Max | Joint Name (in corresponding XML file) | Site Name (in corresponding XML file) |Joint Type| Unit | + |-----|-------------------------------------------------------------------|--------|--------|----------------------------------------|---------------------------------------|----------|------------------------- | + | 0 | Angular position of the horizontal wrist joint | -Inf | Inf | robot0:WRJ1 | - | hinge | angle (rad) | + | 1 | Angular position of the vertical wrist joint | -Inf | Inf | robot0:WRJ0 | - | hinge | angle (rad) | + | 2 | Horizontal angular position of the MCP joint of the forefinger | -Inf | Inf | robot0:FFJ3 | - | hinge | angle (rad) | + | 3 | Vertical angular position of the MCP joint of the forefinge | -Inf | Inf | robot0:FFJ2 | - | hinge | angle (rad) | + | 4 | Angular position of the PIP joint of the forefinger | -Inf | Inf | robot0:FFJ1 | - | hinge | angle (rad) | + | 5 | Angular position of the DIP joint of the forefinger | -Inf | Inf | robot0:FFJ0 | - | hinge | angle (rad) | + | 6 | Horizontal angular position of the MCP joint of the middle finger | -Inf | Inf | robot0:MFJ3 | - | hinge | angle (rad) | + | 7 | Vertical angular position of the MCP joint of the middle finger | -Inf | Inf | robot0:MFJ2 | - | hinge | angle (rad) | + | 8 | Angular position of the PIP joint of the middle finger | -Inf | Inf | robot0:MFJ1 | - | hinge | angle (rad) | + | 9 | Angular position of the DIP joint of the middle finger | -Inf | Inf | robot0:MFJ0 | - | hinge | angle (rad) | + | 10 | Horizontal angular position of the MCP joint of the ring finger | -Inf | Inf | robot0:RFJ3 | - | hinge | angle (rad) | + | 11 | Vertical angular position of the MCP joint of the ring finger | -Inf | Inf | robot0:RFJ2 | - | hinge | angle (rad) | + | 12 | Angular position of the PIP joint of the ring finger | -Inf | Inf | robot0:RFJ1 | - | hinge | angle (rad) | + | 13 | Angular position of the DIP joint of the ring finger | -Inf | Inf | robot0:RFJ0 | - | hinge | angle (rad) | + | 14 | Angular position of the CMC joint of the little finger | -Inf | Inf | robot0:LFJ4 | - | hinge | angle (rad) | + | 15 | Horizontal angular position of the MCP joint of the little finger | -Inf | Inf | robot0:LFJ3 | - | hinge | angle (rad) | + | 16 | Vertical angular position of the MCP joint of the little finger | -Inf | Inf | robot0:LFJ2 | - | hinge | angle (rad) | + | 17 | Angular position of the PIP joint of the little finger | -Inf | Inf | robot0:LFJ1 | - | hinge | angle (rad) | + | 18 | Angular position of the DIP joint of the little finger | -Inf | Inf | robot0:LFJ0 | - | hinge | angle (rad) | + | 19 | Horizontal angular position of the CMC joint of the thumb finger | -Inf | Inf | robot0:THJ4 | - | hinge | angle (rad) | + | 20 | Vertical Angular position of the CMC joint of the thumb finger | -Inf | Inf | robot0:THJ3 | - | hinge | angle (rad) | + | 21 | Horizontal angular position of the MCP joint of the thumb finger | -Inf | Inf | robot0:THJ2 | - | hinge | angle (rad) | + | 22 | Vertical angular position of the MCP joint of the thumb finger | -Inf | Inf | robot0:THJ1 | - | hinge | angle (rad) | + | 23 | Angular position of the IP joint of the thumb finger | -Inf | Inf | robot0:THJ0 | - | hinge | angle (rad) | + | 24 | Angular velocity of the horizontal wrist joint | -Inf | Inf | robot0:WRJ1 | - | hinge | angular velocity (rad/s) | + | 25 | Angular velocity of the vertical wrist joint | -Inf | Inf | robot0:WRJ0 | - | hinge | angular velocity (rad/s) | + | 26 | Horizontal angular velocity of the MCP joint of the forefinger | -Inf | Inf | robot0:FFJ3 | - | hinge | angular velocity (rad/s) | + | 27 | Vertical angular velocity of the MCP joint of the forefinge | -Inf | Inf | robot0:FFJ2 | - | hinge | angular velocity (rad/s) | + | 28 | Angular velocity of the PIP joint of the forefinger | -Inf | Inf | robot0:FFJ1 | - | hinge | angular velocity (rad/s) | + | 29 | Angular velocity of the DIP joint of the forefinger | -Inf | Inf | robot0:FFJ0 | - | hinge | angular velocity (rad/s) | + | 30 | Horizontal angular velocity of the MCP joint of the middle finger | -Inf | Inf | robot0:MFJ3 | - | hinge | angular velocity (rad/s) | + | 31 | Vertical angular velocity of the MCP joint of the middle finger | -Inf | Inf | robot0:MFJ2 | - | hinge | angular velocity (rad/s) | + | 32 | Angular velocity of the PIP joint of the middle finger | -Inf | Inf | robot0:MFJ1 | - | hinge | angular velocity (rad/s) | + | 33 | Angular velocity of the DIP joint of the middle finger | -Inf | Inf | robot0:MFJ0 | - | hinge | angular velocity (rad/s) | + | 34 | Horizontal angular velocity of the MCP joint of the ring finger | -Inf | Inf | robot0:RFJ3 | - | hinge | angular velocity (rad/s) | + | 35 | Vertical angular velocity of the MCP joint of the ring finger | -Inf | Inf | robot0:RFJ2 | - | hinge | angular velocity (rad/s) | + | 36 | Angular velocity of the PIP joint of the ring finger | -Inf | Inf | robot0:RFJ1 | - | hinge | angular velocity (rad/s) | + | 37 | Angular velocity of the DIP joint of the ring finger | -Inf | Inf | robot0:RFJ0 | - | hinge | angular velocity (rad/s) | + | 38 | Angular velocity of the CMC joint of the little finger | -Inf | Inf | robot0:LFJ4 | - | hinge | angular velocity (rad/s) | + | 39 | Horizontal angular velocity of the MCP joint of the little finger | -Inf | Inf | robot0:LFJ3 | - | hinge | angular velocity (rad/s) | + | 40 | Vertical angular velocity of the MCP joint of the little finger | -Inf | Inf | robot0:LFJ2 | - | hinge | angular velocity (rad/s) | + | 41 | Angular velocity of the PIP joint of the little finger | -Inf | Inf | robot0:LFJ1 | - | hinge | angular velocity (rad/s) | + | 42 | Angular velocity of the DIP joint of the little finger | -Inf | Inf | robot0:LFJ0 | - | hinge | angular velocity (rad/s) | + | 43 | Horizontal angular velocity of the CMC joint of the thumb finger | -Inf | Inf | robot0:THJ4 | - | hinge | angular velocity (rad/s) | + | 44 | Vertical Angular velocity of the CMC joint of the thumb finger | -Inf | Inf | robot0:THJ3 | - | hinge | angular velocity (rad/s) | + | 45 | Horizontal angular velocity of the MCP joint of the thumb finger | -Inf | Inf | robot0:THJ2 | - | hinge | angular velocity (rad/s) | + | 46 | Vertical angular position of the MCP joint of the thumb finger | -Inf | Inf | robot0:THJ1 | - | hinge | angular velocity (rad/s) | + | 47 | Angular velocity of the IP joint of the thumb finger | -Inf | Inf | robot0:THJ0 | - | hinge | angular velocity (rad/s) | + | 48 | x coordinate of the tip of the forefinger | -Inf | Inf | - | robot0:S_fftip | - | position (m) | + | 49 | y coordinate of the tip of the forefinger | -Inf | Inf | - | robot0:S_fftip | - | position (m) | + | 50 | z coordinate of the tip of the forefinger | -Inf | Inf | - | robot0:S_fftip | - | position (m) | + | 51 | x coordinate of the tip of the middle finger | -Inf | Inf | - | robot0:S_mftip | - | position (m) | + | 52 | y coordinate of the tip of the middle finger | -Inf | Inf | - | robot0:S_mftip | - | position (m) | + | 53 | z coordinate of the tip of the middle finger | -Inf | Inf | - | robot0:S_mftip | - | position (m) | + | 54 | x coordinate of the tip of the ring finger | -Inf | Inf | - | robot0:S_rftip | - | position (m) | + | 55 | y coordinate of the tip of the ring finger | -Inf | Inf | - | robot0:S_rftip | - | position (m) | + | 56 | z coordinate of the tip of the ring finger | -Inf | Inf | - | robot0:S_rftip | - | position (m) | + | 57 | x coordinate of the tip of the little finger | -Inf | Inf | - | robot0:S_lftip | - | position (m) | + | 58 | y coordinate of the tip of the little finger | -Inf | Inf | - | robot0:S_lftip | - | position (m) | + | 59 | z coordinate of the tip of the little finger | -Inf | Inf | - | robot0:S_lftip | - | position (m) | + | 60 | x coordinate of the tip of the thumb finger | -Inf | Inf | - | robot0:S_thtip | - | position (m) | + | 61 | y coordinate of the tip of the thumb finger | -Inf | Inf | - | robot0:S_thtip | - | position (m) | + | 62 | z coordinate of the tip of the thumb finger | -Inf | Inf | - | robot0:S_thtip | - | position (m) | + + * `desired_goal`: this key represents the final goal to be achieved. In this environment it is a 15-dimensional `ndarray`, `(15,)`, that consists of the 15 cartesian coordinates of the desired final finger tip position `[x,y,z]`. The elements of the array are the following: - | Num | Observation | Min | Max | Site Name (in corresponding XML file) |Unit | - |-----|---------------------------------------------------------------------------------------------------------------------------------------|--------|--------|---------------------------------------|--------------| - | 0 | Target x coordinate of the tip of the forefinger | -Inf | Inf | target0 | position (m) | - | 1 | Target y coordinate of the tip of the forefinger | -Inf | Inf | target0 | position (m) | - | 2 | Target z coordinate of the tip of the forefinger | -Inf | Inf | target0 | position (m) | - | 3 | Target x coordinate of the tip of the middle finger | -Inf | Inf | target1 | position (m) | - | 4 | Target y coordinate of the tip of the middle finger | -Inf | Inf | target1 | position (m) | - | 5 | Target z coordinate of the tip of the middle finger | -Inf | Inf | target1 | position (m) | - | 6 | Target x coordinate of the tip of the ring finger | -Inf | Inf | target2 | position (m) | - | 7 | Target y coordinate of the tip of the ring finger | -Inf | Inf | target2 | position (m) | - | 8 | Target z coordinate of the tip of the ring finger | -Inf | Inf | target2 | position (m) | - | 9 | Target x coordinate of the tip of the little finger | -Inf | Inf | target3 | position (m) | - | 10 | Target y coordinate of the tip of the little finger | -Inf | Inf | target3 | position (m) | - | 11 | Target z coordinate of the tip of the little finger | -Inf | Inf | target3 | position (m) | - | 12 | Target x coordinate of the tip of the thumb finger | -Inf | Inf | target4 | position (m) | - | 13 | Target y coordinate of the tip of the thumb finger | -Inf | Inf | target4 | position (m) | - | 14 | Target z coordinate of the tip of the thumb finger | -Inf | Inf | target4 | position (m) | - - `achieved_goal`: this key represents the current state of the fingers, as if it would have achieved a goal. This is useful for goal orientated learning algorithms such as those that use [Hindsight Experience Replay](https://arxiv.org/abs/1707.01495) (HER). + | Num | Observation | Min | Max | Site Name (in corresponding XML file) |Unit | + |-----|---------------------------------------------------------------------------------------------------------------------------------------|--------|--------|---------------------------------------|--------------| + | 0 | Target x coordinate of the tip of the forefinger | -Inf | Inf | target0 | position (m) | + | 1 | Target y coordinate of the tip of the forefinger | -Inf | Inf | target0 | position (m) | + | 2 | Target z coordinate of the tip of the forefinger | -Inf | Inf | target0 | position (m) | + | 3 | Target x coordinate of the tip of the middle finger | -Inf | Inf | target1 | position (m) | + | 4 | Target y coordinate of the tip of the middle finger | -Inf | Inf | target1 | position (m) | + | 5 | Target z coordinate of the tip of the middle finger | -Inf | Inf | target1 | position (m) | + | 6 | Target x coordinate of the tip of the ring finger | -Inf | Inf | target2 | position (m) | + | 7 | Target y coordinate of the tip of the ring finger | -Inf | Inf | target2 | position (m) | + | 8 | Target z coordinate of the tip of the ring finger | -Inf | Inf | target2 | position (m) | + | 9 | Target x coordinate of the tip of the little finger | -Inf | Inf | target3 | position (m) | + | 10 | Target y coordinate of the tip of the little finger | -Inf | Inf | target3 | position (m) | + | 11 | Target z coordinate of the tip of the little finger | -Inf | Inf | target3 | position (m) | + | 12 | Target x coordinate of the tip of the thumb finger | -Inf | Inf | target4 | position (m) | + | 13 | Target y coordinate of the tip of the thumb finger | -Inf | Inf | target4 | position (m) | + | 14 | Target z coordinate of the tip of the thumb finger | -Inf | Inf | target4 | position (m) | + + * `achieved_goal`: this key represents the current state of the fingers, as if it would have achieved a goal. This is useful for goal orientated learning algorithms such as those that use [Hindsight Experience Replay](https://arxiv.org/abs/1707.01495) (HER). The value is an `ndarray` with shape `(15,)`. The elements of the array are the following: - | Num | Observation | Min | Max | Site Name (in corresponding XML file) |Unit | - |-----|---------------------------------------------------------------------------------------------------------------------------------------|--------|--------|---------------------------------------|--------------| - | 0 | Current x coordinate of the tip of the forefinger | -Inf | Inf | robot0:S_fftip | position (m) | - | 1 | Current y coordinate of the tip of the forefinger | -Inf | Inf | robot0:S_fftip | position (m) | - | 2 | Current z coordinate of the tip of the forefinger | -Inf | Inf | robot0:S_fftip | position (m) | - | 3 | Current x coordinate of the tip of the middle finger | -Inf | Inf | robot0:S_mftip | position (m) | - | 4 | Current y coordinate of the tip of the middle finger | -Inf | Inf | robot0:S_mftip | position (m) | - | 5 | Current z coordinate of the tip of the middle finger | -Inf | Inf | robot0:S_mftip | position (m) | - | 6 | Current x coordinate of the tip of the ring finger | -Inf | Inf | robot0:S_rftip | position (m) | - | 7 | Current y coordinate of the tip of the ring finger | -Inf | Inf | robot0:S_rftip | position (m) | - | 8 | Current z coordinate of the tip of the ring finger | -Inf | Inf | robot0:S_rftip | position (m) | - | 9 | Current x coordinate of the tip of the little finger | -Inf | Inf | robot0:S_lftip | position (m) | - | 10 | Current y coordinate of the tip of the little finger | -Inf | Inf | robot0:S_lftip | position (m) | - | 11 | Current z coordinate of the tip of the little finger | -Inf | Inf | robot0:S_lftip | position (m) | - | 12 | Current x coordinate of the tip of the thumb finger | -Inf | Inf | robot0:S_thtip | position (m) | - | 13 | Current y coordinate of the tip of the thumb finger | -Inf | Inf | robot0:S_thtip | position (m) | - | 14 | Current z coordinate of the tip of the thumb finger | -Inf | Inf | robot0:S_thtip | position (m) | + | Num | Observation | Min | Max | Site Name (in corresponding XML file) |Unit | + |-----|---------------------------------------------------------------------------------------------------------------------------------------|--------|--------|---------------------------------------|--------------| + | 0 | Current x coordinate of the tip of the forefinger | -Inf | Inf | robot0:S_fftip | position (m) | + | 1 | Current y coordinate of the tip of the forefinger | -Inf | Inf | robot0:S_fftip | position (m) | + | 2 | Current z coordinate of the tip of the forefinger | -Inf | Inf | robot0:S_fftip | position (m) | + | 3 | Current x coordinate of the tip of the middle finger | -Inf | Inf | robot0:S_mftip | position (m) | + | 4 | Current y coordinate of the tip of the middle finger | -Inf | Inf | robot0:S_mftip | position (m) | + | 5 | Current z coordinate of the tip of the middle finger | -Inf | Inf | robot0:S_mftip | position (m) | + | 6 | Current x coordinate of the tip of the ring finger | -Inf | Inf | robot0:S_rftip | position (m) | + | 7 | Current y coordinate of the tip of the ring finger | -Inf | Inf | robot0:S_rftip | position (m) | + | 8 | Current z coordinate of the tip of the ring finger | -Inf | Inf | robot0:S_rftip | position (m) | + | 9 | Current x coordinate of the tip of the little finger | -Inf | Inf | robot0:S_lftip | position (m) | + | 10 | Current y coordinate of the tip of the little finger | -Inf | Inf | robot0:S_lftip | position (m) | + | 11 | Current z coordinate of the tip of the little finger | -Inf | Inf | robot0:S_lftip | position (m) | + | 12 | Current x coordinate of the tip of the thumb finger | -Inf | Inf | robot0:S_thtip | position (m) | + | 13 | Current y coordinate of the tip of the thumb finger | -Inf | Inf | robot0:S_thtip | position (m) | + | 14 | Current z coordinate of the tip of the thumb finger | -Inf | Inf | robot0:S_thtip | position (m) | ## Rewards