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Fixed the description of Half Cheetah's observation space elements (#911
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@jamartinh
jamartinh authored Feb 10, 2024
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41 changes: 21 additions & 20 deletions gymnasium/envs/mujoco/half_cheetah_v5.py
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Expand Up @@ -53,26 +53,27 @@ class HalfCheetahEnv(MujocoEnv, utils.EzPickle):
By default, however, the observation space is a `Box(-Inf, Inf, (17,), float64)` where the elements are as follows:
| Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Type (Unit) |
| --- | ------------------------------------ | ---- | --- | -------------------------------- | ----- | ------------------------ |
| 0 | z-coordinate of the front tip | -Inf | Inf | rootz | slide | position (m) |
| 1 | angle of the front tip | -Inf | Inf | rooty | hinge | angle (rad) |
| 2 | angle of the second rotor | -Inf | Inf | bthigh | hinge | angle (rad) |
| 3 | angle of the second rotor | -Inf | Inf | bshin | hinge | angle (rad) |
| 4 | velocity of the tip along the x-axis | -Inf | Inf | bfoot | hinge | angle (rad) |
| 5 | velocity of the tip along the y-axis | -Inf | Inf | fthigh | hinge | angle (rad) |
| 6 | angular velocity of front tip | -Inf | Inf | fshin | hinge | angle (rad) |
| 7 | angular velocity of second rotor | -Inf | Inf | ffoot | hinge | angle (rad) |
| 8 | x-coordinate of the front tip | -Inf | Inf | rootx | slide | velocity (m/s) |
| 9 | y-coordinate of the front tip | -Inf | Inf | rootz | slide | velocity (m/s) |
| 10 | angle of the front tip | -Inf | Inf | rooty | hinge | angular velocity (rad/s) |
| 11 | angle of the second rotor | -Inf | Inf | bthigh | hinge | angular velocity (rad/s) |
| 12 | angle of the second rotor | -Inf | Inf | bshin | hinge | angular velocity (rad/s) |
| 13 | velocity of the tip along the x-axis | -Inf | Inf | bfoot | hinge | angular velocity (rad/s) |
| 14 | velocity of the tip along the y-axis | -Inf | Inf | fthigh | hinge | angular velocity (rad/s) |
| 15 | angular velocity of front tip | -Inf | Inf | fshin | hinge | angular velocity (rad/s) |
| 16 | angular velocity of second rotor | -Inf | Inf | ffoot | hinge | angular velocity (rad/s) |
| excluded | x-coordinate of the front tip | -Inf | Inf | rootx | slide | position (m) |
| Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Type (Unit) |
| --- | ------------------------------------------- | ---- | --- | -------------------------------- | ----- | ------------------------ |
| 0 | z-coordinate of the front tip | -Inf | Inf | rootz | slide | position (m) |
| 1 | angle of the front tip | -Inf | Inf | rooty | hinge | angle (rad) |
| 2 | angle of the back thigh | -Inf | Inf | bthigh | hinge | angle (rad) |
| 3 | angle of the back shin | -Inf | Inf | bshin | hinge | angle (rad) |
| 4 | angle of the back foot | -Inf | Inf | bfoot | hinge | angle (rad) |
| 5 | angle of the front thigh | -Inf | Inf | fthigh | hinge | angle (rad) |
| 6 | angle of the front shin | -Inf | Inf | fshin | hinge | angle (rad) |
| 7 | angle of the front foot | -Inf | Inf | ffoot | hinge | angle (rad) |
| 8 | velocity of the x-coordinate of front tip | -Inf | Inf | rootx | slide | velocity (m/s) |
| 9 | velocity of the z-coordinate of front tip | -Inf | Inf | rootz | slide | velocity (m/s) |
| 10 | angular velocity of the front tip | -Inf | Inf | rooty | hinge | angular velocity (rad/s) |
| 11 | angular velocity of the back thigh | -Inf | Inf | bthigh | hinge | angular velocity (rad/s) |
| 12 | angular velocity of the back shin | -Inf | Inf | bshin | hinge | angular velocity (rad/s) |
| 13 | angular velocity of the back foot | -Inf | Inf | bfoot | hinge | angular velocity (rad/s) |
| 14 | angular velocity of the front thigh | -Inf | Inf | fthigh | hinge | angular velocity (rad/s) |
| 15 | angular velocity of the front shin | -Inf | Inf | fshin | hinge | angular velocity (rad/s) |
| 16 | angular velocity of the front foot | -Inf | Inf | ffoot | hinge | angular velocity (rad/s) |
| excluded | x-coordinate of the front tip | -Inf | Inf | rootx | slide | position (m) |
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