What does mdp.info.action_space.low and mdp.info.action_space.high represent?

[ktgiahieu]

Hi,
I have been struggling to understand what mdp.info.action_space.low and mdp.info.action_space.high represents.

After diving deep into the code, I found that they are the value ctrlrange from this file:
https://github.com/AirHockeyChallenge/air_hockey_challenge/blob/warm-up/air_hockey_challenge/environments/data/planar/planar_robot_1.xml#L51-L55

I thought the action space should also be in the shape of (2,3) representing the joint_vel and joint_pos. Why is the action space of shape (3,) and have this range?

Thank you.

[PuzeLiu]

Hi,
Sorry for the confusion!
This is actually the torque limit of each joint. However, you do not need to use this info since the direct torque control of the robot is not accesible. We will use a tracking controller that takes the desired position and velocity and then convert it to the torque which is applied to the robot.