accessing joint range from API

Discussion in 'Simulation' started by Nemanja, Jul 11, 2018 at 4:00 AM.

  1. Hello,

    Is there a way to access the joint ranges defined in the .xml file through the code? as defined in e.g.
    HTML:
    <joint axis="0 0 1" limited="true" name="joint0" pos="0 0 0" range="-1.57 1.57" type="hinge" damping="10" stiffness="0" />
    I am using OpenAI gym interface, so when using `env.unwrapped.action_space.low/high` I can access the actuators ctrlrange defined in:
    HTML:
    <actuator>
            <position ctrllimited="true" ctrlrange="-100.0 100.0" gear="10.0" joint="joint0"/>
    </actuator>
    
    and it returns -100.0 / 100.0

    I tried also `env.unwrapped.observation_space.low/high` but that just returns -int/inf

    Thank you!