gaspersic/Gymnasium
1
0
Fork 0
mirror of https://github.com/Farama-Foundation/Gymnasium.git synced 2025-08-01 14:10:30 +00:00
Code Issues Packages Projects Releases Wiki Activity

Fix MuJoCo.Humanoid action description (#206)

Browse Source
This commit is contained in:
Kallinteris Andreas
2022-12-15 16:06:31 +02:00
committed by GitHub
parent 410557d708
commit 29cd32af9a
2 changed files with 6 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
gymnasium/envs/mujoco/humanoid_v4.py
View File

@@ -34,9 +34,9 @@ class HumanoidEnv(MujocoEnv, utils.EzPickle):
| Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit |
|-----|----------------------|---------------|----------------|---------------------------------------|-------|------|
| 0 | Torque applied on the hinge in the y-coordinate of the abdomen | -0.4 | 0.4 | hip_1 (front_left_leg) | hinge | torque (N m) |
| 1 | Torque applied on the hinge in the z-coordinate of the abdomen | -0.4 | 0.4 | angle_1 (front_left_leg) | hinge | torque (N m) |
| 2 | Torque applied on the hinge in the x-coordinate of the abdomen | -0.4 | 0.4 | hip_2 (front_right_leg) | hinge | torque (N m) |
| 0 | Torque applied on the hinge in the y-coordinate of the abdomen | -0.4 | 0.4 | abdomen_y | hinge | torque (N m) |
| 1 | Torque applied on the hinge in the z-coordinate of the abdomen | -0.4 | 0.4 | abdomen_z | hinge | torque (N m) |
| 2 | Torque applied on the hinge in the x-coordinate of the abdomen | -0.4 | 0.4 | abdomen_x | hinge | torque (N m) |
| 3 | Torque applied on the rotor between torso/abdomen and the right hip (x-coordinate) | -0.4 | 0.4 | right_hip_x (right_thigh) | hinge | torque (N m) |
| 4 | Torque applied on the rotor between torso/abdomen and the right hip (z-coordinate) | -0.4 | 0.4 | right_hip_z (right_thigh) | hinge | torque (N m) |
| 5 | Torque applied on the rotor between torso/abdomen and the right hip (y-coordinate) | -0.4 | 0.4 | right_hip_y (right_thigh) | hinge | torque (N m) |

6
gymnasium/envs/mujoco/humanoidstandup_v4.py
View File

@@ -33,9 +33,9 @@ class HumanoidStandupEnv(MujocoEnv, utils.EzPickle):
| Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit |
| --- | ---------------------------------------------------------------------------------- | ----------- | ----------- | -------------------------------- | ----- | ------------ |
| 0 | Torque applied on the hinge in the y-coordinate of the abdomen | -0.4 | 0.4 | hip_1 (front_left_leg) | hinge | torque (N m) |
| 1 | Torque applied on the hinge in the z-coordinate of the abdomen | -0.4 | 0.4 | angle_1 (front_left_leg) | hinge | torque (N m) |
| 2 | Torque applied on the hinge in the x-coordinate of the abdomen | -0.4 | 0.4 | hip_2 (front_right_leg) | hinge | torque (N m) |
| 0 | Torque applied on the hinge in the y-coordinate of the abdomen | -0.4 | 0.4 | abdomen_y | hinge | torque (N m) |
| 1 | Torque applied on the hinge in the z-coordinate of the abdomen | -0.4 | 0.4 | abdomen_z | hinge | torque (N m) |
| 2 | Torque applied on the hinge in the x-coordinate of the abdomen | -0.4 | 0.4 | abdomen_x | hinge | torque (N m) |
| 3 | Torque applied on the rotor between torso/abdomen and the right hip (x-coordinate) | -0.4 | 0.4 | right_hip_x (right_thigh) | hinge | torque (N m) |
| 4 | Torque applied on the rotor between torso/abdomen and the right hip (z-coordinate) | -0.4 | 0.4 | right_hip_z (right_thigh) | hinge | torque (N m) |
| 5 | Torque applied on the rotor between torso/abdomen and the right hip (y-coordinate) | -0.4 | 0.4 | right_hip_y (right_thigh) | hinge | torque (N m) |