What are the numbers in obs_low and obs_high represents?

[ktgiahieu]

Hi organizers,

I stumbled upon the code: https://github.com/AirHockeyChallenge/air_hockey_challenge/blob/warm-up/air_hockey_challenge/environments/planar/base.py#L156-L169

where you redefine the state space with:

obs_low = np.array([0, -1, -np.pi, -20., -20., -100,
                            *np.array([self._model.joint(f"planar_robot_1/joint_{i + 1}").range[0]
                                       for i in range(self.env_info['robot']['n_joints'])]),
                            *self.env_info['robot']['joint_vel_limit'][0]])
obs_high = np.array([3.02, 1, np.pi, 20., 20., 100,
                            *np.array([self._model.joint(f"planar_robot_1/joint_{i + 1}").range[1]
                                       for i in range(self.env_info['robot']['n_joints'])]),
                            *self.env_info['robot']['joint_vel_limit'][1]])

May I ask what does each number represents? Thank you.

[PuzeLiu]

obs_low and obs_high are the range of the observation space.
The order of the observation is: [puck_pos (3), puck_vel (3), joint_pos (3), joint_vel (3)]
The puck_pos contains (x, y, yaw_angle).

[ktgiahieu]

Thank you for your fast reply. We get it now.