[MuJoCo] add action space figures (#762)

docs/environments/mujoco/action_space_figures/credits

@@ -0,0 +1,2 @@
+The figures were first made my Christian Schroeder de Witt (under no license), and he provided permission to use them on this repo
+Then modified by @Kallinteris-Andreas

gymnasium/envs/mujoco/ant_v5.py

@@ -38,6 +38,10 @@ class AntEnv(MujocoEnv, utils.EzPickle):
     For more information see section "Version History".
 
     ## Action Space
+    ```{figure} action_space_figures/ant.png
+    :name: ant
+    ```
+
     The action space is a `Box(-1, 1, (8,), float32)`. An action represents the torques applied at the hinge joints.
 
     | Num | Action                                                            | Control Min | Control Max | Name (in corresponding XML file) | Joint | Type (Unit)  |

gymnasium/envs/mujoco/half_cheetah_v5.py

@@ -41,6 +41,10 @@ class HalfCheetahEnv(MujocoEnv, utils.EzPickle):
 
 
     ## Action Space
+    ```{figure} action_space_figures/half_cheetah.png
+    :name: half_cheetah
+    ```
+
     The action space is a `Box(-1, 1, (6,), float32)`. An action represents the torques applied at the hinge joints.
 
     | Num | Action                                  | Control Min | Control Max | Name (in corresponding XML file) | Joint | Type (Unit)  |

gymnasium/envs/mujoco/hopper_v5.py

@@ -42,6 +42,10 @@ class HopperEnv(MujocoEnv, utils.EzPickle):
     For more information see section "Version History".
 
     ## Action Space
+    ```{figure} action_space_figures/hopper.png
+    :name: hopper
+    ```
+
     The action space is a `Box(-1, 1, (3,), float32)`. An action represents the torques applied at the hinge joints.
 
     | Num | Action                             | Control Min | Control Max | Name (in corresponding XML file) | Joint | Type (Unit)  |

gymnasium/envs/mujoco/humanoid_v5.py

@@ -46,6 +46,10 @@ class HumanoidEnv(MujocoEnv, utils.EzPickle):
 
 
     ## Action Space
+    ```{figure} action_space_figures/humanoid.png
+    :name: humanoid
+    ```
+
     The action space is a `Box(-1, 1, (17,), float32)`. An action represents the torques applied at the hinge joints.
 
     | Num | Action                                                                             | Control Min | Control Max | Name (in corresponding XML file) | Joint | Type (Unit)  |

gymnasium/envs/mujoco/humanoidstandup_v5.py

@@ -40,6 +40,10 @@ class HumanoidStandupEnv(MujocoEnv, utils.EzPickle):
 
 
     ## Action Space
+    ```{figure} action_space_figures/humanoid.png
+    :name: humanoid
+    ```
+
     The action space is a `Box(-1, 1, (17,), float32)`. An action represents the torques applied at the hinge joints.
 
     | Num | Action                                                                             | Control Min | Control Max | Name (in corresponding XML file) | Joint | Type (Unit)  |

gymnasium/envs/mujoco/pusher_v5.py

@@ -34,6 +34,10 @@ class PusherEnv(MujocoEnv, utils.EzPickle):
 
 
     ## Action Space
+    ```{figure} action_space_figures/pusher.png
+    :name: pusher
+    ```
+
     The action space is a `Box(-2, 2, (7,), float32)`. An action `(a, b)` represents the torques applied at the hinge joints.
 
     | Num | Action                                                             | Control Min | Control Max | Name (in corresponding XML file) | Joint | Type (Unit)  |

gymnasium/envs/mujoco/reacher_v5.py

@@ -30,6 +30,10 @@ class ReacherEnv(MujocoEnv, utils.EzPickle):
 
 
     ## Action Space
+    ```{figure} action_space_figures/reacher.png
+    :name: reacher
+    ```
+
     The action space is a `Box(-1, 1, (2,), float32)`. An action `(a, b)` represents the torques applied at the hinge joints.
 
     | Num | Action                                                                          | Control Min | Control Max |Name (in corresponding XML file)| Joint | Type (Unit)  |

gymnasium/envs/mujoco/swimmer_v5.py

@@ -47,6 +47,10 @@ class SwimmerEnv(MujocoEnv, utils.EzPickle):
 
 
     ## Action Space
+    ```{figure} action_space_figures/swimmer.png
+    :name: swimmer
+    ```
+
     The action space is a `Box(-1, 1, (2,), float32)`. An action represents the torques applied between *links*
 
     | Num | Action                             | Control Min | Control Max | Name (in corresponding XML file) | Joint | Type (Unit)  |

gymnasium/envs/mujoco/walker2d_v5.py

@@ -43,6 +43,10 @@ class Walker2dEnv(MujocoEnv, utils.EzPickle):
 
 
     ## Action Space
+    ```{figure} action_space_figures/walker2d.png
+    :name: walker2d
+    ```
+
     The action space is a `Box(-1, 1, (6,), float32)`. An action represents the torques applied at the hinge joints.
 
     | Num | Action                                 | Control Min | Control Max | Name (in corresponding XML file) | Joint | Type (Unit)  |