gym/envs/mujoco/ant_v3.py [91:120]:
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        min_value, max_value = self._contact_force_range
        contact_forces = np.clip(raw_contact_forces, min_value, max_value)
        return contact_forces

    @property
    def contact_cost(self):
        contact_cost = self._contact_cost_weight * np.sum(
            np.square(self.contact_forces)
        )
        return contact_cost

    @property
    def is_healthy(self):
        state = self.state_vector()
        min_z, max_z = self._healthy_z_range
        is_healthy = np.isfinite(state).all() and min_z <= state[2] <= max_z
        return is_healthy

    @property
    def terminated(self):
        terminated = not self.is_healthy if self._terminate_when_unhealthy else False
        return terminated

    def step(self, action):
        xy_position_before = self.get_body_com("torso")[:2].copy()
        self.do_simulation(action, self.frame_skip)
        xy_position_after = self.get_body_com("torso")[:2].copy()

        xy_velocity = (xy_position_after - xy_position_before) / self.dt
        x_velocity, y_velocity = xy_velocity
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gym/envs/mujoco/ant_v4.py [258:287]:
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        min_value, max_value = self._contact_force_range
        contact_forces = np.clip(raw_contact_forces, min_value, max_value)
        return contact_forces

    @property
    def contact_cost(self):
        contact_cost = self._contact_cost_weight * np.sum(
            np.square(self.contact_forces)
        )
        return contact_cost

    @property
    def is_healthy(self):
        state = self.state_vector()
        min_z, max_z = self._healthy_z_range
        is_healthy = np.isfinite(state).all() and min_z <= state[2] <= max_z
        return is_healthy

    @property
    def terminated(self):
        terminated = not self.is_healthy if self._terminate_when_unhealthy else False
        return terminated

    def step(self, action):
        xy_position_before = self.get_body_com("torso")[:2].copy()
        self.do_simulation(action, self.frame_skip)
        xy_position_after = self.get_body_com("torso")[:2].copy()

        xy_velocity = (xy_position_after - xy_position_before) / self.dt
        x_velocity, y_velocity = xy_velocity
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