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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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gym/envs/mujoco/hopper_v3.py
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@@ -18,8 +18,7 @@ class HopperEnv(mujoco_env.MujocoEnv, utils.EzPickle):
### Description
This environment is based on the work done by Erez, Tassa, and Todorov in
["Infinite Horizon Model Predictive Control for Nonlinear Periodic Tasks"]
(http://www.roboticsproceedings.org/rss07/p10.pdf). The environment aims to
["Infinite Horizon Model Predictive Control for Nonlinear Periodic Tasks"](http://www.roboticsproceedings.org/rss07/p10.pdf). The environment aims to
increase the number of independent state and control variables as compared to
the classic control environments. The hopper is a two-dimensional
one-legged figure that consist of four main body parts - the torso at the
@@ -71,19 +70,20 @@ class HopperEnv(mujoco_env.MujocoEnv, utils.EzPickle):
on that value. This value is hidden from the algorithm, which in turn has
to develop an abstract understanding of it from the observed rewards.
Therefore, observation space has shape `(11,)` instead of `(12,)` and looks like:
| Num | Observation | Min | Max | Name (in corresponding XML file) | Joint| Unit |
|-----|-----------------------|----------------------|--------------------|----------------------|--------------------|--------------------|
| 0 | z-coordinate of the top (height of hopper) | -Inf | Inf | rootz | slide | position (m) |
| 1 | angle of the top | -Inf | Inf | rooty | hinge | angle (rad) |
| 2 | angle of the thigh joint | -Inf | Inf | thigh_joint | hinge | angle (rad) |
| 3 | angle of the leg joint | -Inf | Inf | leg_joint | hinge | angle (rad) |
| 4 | angle of the foot joint | -Inf | Inf | foot_joint | hinge | angle (rad) |
| 5 | velocity of the x-coordinate of the top | -Inf | Inf | rootx | slide | velocity (m/s) |
| 6 | velocity of the z-coordinate (height) of the top | -Inf | Inf | rootz | slide | velocity (m/s) |
| 7 | angular velocity of the angle of the top | -Inf | Inf | rooty | hinge | angular velocity (rad/s) |
| 8 | angular velocity of the thigh hinge | -Inf | Inf | thigh_joint | hinge | angular velocity (rad/s) |
| 9 | angular velocity of the leg hinge | -Inf | Inf | leg_joint | hinge | angular velocity (rad/s) |
| 10 | angular velocity of the foot hinge | -Inf | Inf | foot_joint | hinge | angular velocity (rad/s) |
| 0 | z-coordinate of the top (height of hopper) | -Inf | Inf | rootz | slide | position (m) |
| 1 | angle of the top | -Inf | Inf | rooty | hinge | angle (rad) |
| 2 | angle of the thigh joint | -Inf | Inf | thigh_joint | hinge | angle (rad) |
| 3 | angle of the leg joint | -Inf | Inf | leg_joint | hinge | angle (rad) |
| 4 | angle of the foot joint | -Inf | Inf | foot_joint | hinge | angle (rad) |
| 5 | velocity of the x-coordinate of the top | -Inf | Inf | rootx | slide | velocity (m/s) |
| 6 | velocity of the z-coordinate (height) of the top | -Inf | Inf | rootz | slide | velocity (m/s) |
| 7 | angular velocity of the angle of the top | -Inf | Inf | rooty | hinge | angular velocity (rad/s) |
| 8 | angular velocity of the thigh hinge | -Inf | Inf | thigh_joint | hinge | angular velocity (rad/s) |
| 9 | angular velocity of the leg hinge | -Inf | Inf | leg_joint | hinge | angular velocity (rad/s) |
| 10 | angular velocity of the foot hinge | -Inf | Inf | foot_joint | hinge | angular velocity (rad/s) |
### Rewards
The reward consists of three parts:
@@ -103,8 +103,8 @@ class HopperEnv(mujoco_env.MujocoEnv, utils.EzPickle):
### Starting State
All observations start in state
(0.0, 1.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) with a uniform nois
e in the range of [-0.005, 0.005] added to the values for stochasticity.
(0.0, 1.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) with a uniform noise
in the range of [-0.005, 0.005] added to the values for stochasticity.
### Episode Termination
The episode terminates when any of the following happens: