Mocap#
Refers to objects in the environment that move autonomously according to a certain pattern, and with which interaction may produce cost, or may affect the way they move through physical interaction. It is used to model realistic moving objects under control.
Gremlins#
Can be constrained |
No collision |
|---|---|
✅ |
❌ |
Specifically for the Button task, modeling moving objects in the environment.
In Button [12]: contact with it generates cost.
Constraints#
contact_cost: When the agent makes contact with Gremlins, it generates cost:
self.contact_cost.