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Improve the tutorial rendering (#1353)

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Mark Towers
2025-04-02 21:17:14 +01:00
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docs/tutorials/gymnasium_basics/README.rst
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Gymnasium Basics
----------------
================
.. toctree::
:hidden:
.. _gallery_section_name:
environment_creation
implementing_custom_wrappers
handling_time_limits
load_quadruped_model
The aim of these tutorials is to showcase the fundamental API of Gymnasium to help users implement it

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docs/tutorials/gymnasium_basics/environment_creation.py
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Make your own custom environment
================================
This documentation overviews creating new environments and relevant
useful wrappers, utilities and tests included in Gymnasium designed for
the creation of new environments.
This tutorial shows how to create new environment and links to relevant useful wrappers, utilities and tests included in Gymnasium.
Setup
------

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docs/tutorials/gymnasium_basics/handling_time_limits.py
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Handling Time Limits
====================
In using Gymnasium environments with reinforcement learning code, a common problem observed is how time limits are incorrectly handled. The ``done`` signal received (in previous versions of OpenAI Gym < 0.26) from ``env.step`` indicated whether an episode has ended. However, this signal did not distinguish whether the episode ended due to ``termination`` or ``truncation``.
This tutorial explains how time limits should be correctly handled with `termination` and `truncation` signals.
The ``done`` signal received (in previous versions of OpenAI Gym < 0.26) from ``env.step`` indicated whether an episode has ended.
However, this signal did not distinguish whether the episode ended due to ``termination`` or ``truncation``.
Termination
-----------

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docs/tutorials/gymnasium_basics/implementing_custom_wrappers.py
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============================
In this tutorial we will describe how to implement your own custom wrappers.
Wrappers are a great way to add functionality to your environments in a modular way.
This will save you a lot of boilerplate code.

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docs/tutorials/gymnasium_basics/load_quadruped_model.py
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Load custom quadruped robot environments
========================================
In this tutorial we will see how to use the `MuJoCo/Ant-v5` framework to create a quadruped walking environment,
using a model file (ending in `.xml`) without having to create a new class.
In this tutorial create a mujoco quadruped walking environment using a model file (ending in `.xml`) without having to create a new class.
Steps: