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Doc typos (#2597)

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* Minor Mujoco Doc Typos

* Fixed precommit black
This commit is contained in:
Rushiv Arora
2022-02-07 22:53:47 -05:00
committed by GitHub
parent 80d28e5a9c
commit 2b6ec51580
10 changed files with 36 additions and 33 deletions
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14
gym/envs/mujoco/ant_v3.py
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@@ -12,10 +12,10 @@ class AntEnv(mujoco_env.MujocoEnv, utils.EzPickle):
"""
### Description
This environment is based on the environment iintroduced by Schulman,
This environment is based on the environment introduced by Schulman,
Moritz, Levine, Jordan and Abbeel in ["High-Dimensional Continuous Control
Using Generalized Advantage Estimation"](https://arxiv.org/abs/1506.02438).
The ant is a 3D roboot consisting of one torso (free rotational body) with
The ant is a 3D robot consisting of one torso (free rotational body) with
four legs attached to it with each leg having two links. The goal is to
coordinate the four legs to move in the forward (right) direction by applying
torques on the eight hinges connecting the two links of each leg and the torso
@@ -41,14 +41,14 @@ class AntEnv(mujoco_env.MujocoEnv, utils.EzPickle):
### Observation Space
The state space consists of positional values of different body parts of the hopper,
The state space consists of positional values of different body parts of the ant,
followed by the velocities of those individual parts (their derivatives) with all
the positions ordered before all the velocities.
The observation is a `ndarray` with shape `(111,)` where the elements correspond to the following:
| Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Unit |
|-----|---------------------------------------------------------|----------------|-----------------|----------------------------------------|-------|------|
| Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Unit |
|-----|-------------------------------------------------------------|----------------|-----------------|----------------------------------------|-------|------|
| 0 | x-coordinate of the torso (centre) | -Inf | Inf | torso | free | position (m) |
| 1 | y-coordinate of the torso (centre) | -Inf | Inf | torso | free | position (m) |
| 2 | z-coordinate of the torso (centre) | -Inf | Inf | torso | free | position (m) |
@@ -137,7 +137,7 @@ class AntEnv(mujoco_env.MujocoEnv, utils.EzPickle):
No additional arguments are currently supported (in v2 and lower), but modifications
can be made to the XML file in the assets folder (or by changing the path to a modified
XML file in another folder)..
XML file in another folder).
```
env = gym.make('Ant-v2')
@@ -146,7 +146,7 @@ class AntEnv(mujoco_env.MujocoEnv, utils.EzPickle):
v3 and beyond take gym.make kwargs such as xml_file, ctrl_cost_weight, reset_noise_scale etc.
```
env = gym.make('Ant-v3', ctrl_cost_weight=0.1, ....)
env = gym.make('Ant-v3', ctrl_cost_weight=0.1, ...)
```
### Version History