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Mujoco and Website Docstring fixes (#2834)
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* Fixed minor docstring issues found on the website

* Updated the top docstrings with mujoco environments that fixed the observation and action tables. Added v4 gym.make code
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@pseudo-rnd-thoughts
pseudo-rnd-thoughts authored May 24, 2022
1 parent f2c3f73 commit 4487008
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88 changes: 44 additions & 44 deletions gym/envs/mujoco/ant_v4.py
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Original file line number Diff line number Diff line change
Expand Up @@ -28,16 +28,16 @@ class AntEnv(mujoco_env.MujocoEnv, utils.EzPickle):
action, action)` all in `[-1, 1]`, where `action` represents the numerical torques
applied at the hinge joints.
| Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit |
|-----|----------------------|---------------|----------------|---------------------------------------|-------|------|
| 0 | Torque applied on the rotor between the torso and front left hip | -1 | 1 | hip_1 (front_left_leg) | hinge | torque (N m) |
| 1 | Torque applied on the rotor between the front left two links | -1 | 1 | angle_1 (front_left_leg) | hinge | torque (N m) |
| 2 | Torque applied on the rotor between the torso and front right hip | -1 | 1 | hip_2 (front_right_leg) | hinge | torque (N m) |
| 3 | Torque applied on the rotor between the front right two links | -1 | 1 | angle_2 (front_right_leg) | hinge | torque (N m) |
| 4 | Torque applied on the rotor between the torso and back left hip | -1 | 1 | hip_3 (back_leg) | hinge | torque (N m) |
| 5 | Torque applied on the rotor between the back left two links | -1 | 1 | angle_3 (back_leg) | hinge | torque (N m) |
| 6 | Torque applied on the rotor between the torso and back right hip | -1 | 1 | hip_4 (right_back_leg) | hinge | torque (N m) |
| 7 | Torque applied on the rotor between the back right two links | -1 | 1 | angle_4 (right_back_leg) | hinge | torque (N m) |
| Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit |
|-----|--------------------------------------------------------------------|-------------|-------------|----------------------------------|-------|--------------|
| 0 | Torque applied on the rotor between the torso and front left hip | -1 | 1 | hip_1 (front_left_leg) | hinge | torque (N m) |
| 1 | Torque applied on the rotor between the front left two links | -1 | 1 | angle_1 (front_left_leg) | hinge | torque (N m) |
| 2 | Torque applied on the rotor between the torso and front right hip | -1 | 1 | hip_2 (front_right_leg) | hinge | torque (N m) |
| 3 | Torque applied on the rotor between the front right two links | -1 | 1 | angle_2 (front_right_leg) | hinge | torque (N m) |
| 4 | Torque applied on the rotor between the torso and back left hip | -1 | 1 | hip_3 (back_leg) | hinge | torque (N m) |
| 5 | Torque applied on the rotor between the back left two links | -1 | 1 | angle_3 (back_leg) | hinge | torque (N m) |
| 6 | Torque applied on the rotor between the torso and back right hip | -1 | 1 | hip_4 (right_back_leg) | hinge | torque (N m) |
| 7 | Torque applied on the rotor between the back right two links | -1 | 1 | angle_4 (right_back_leg) | hinge | torque (N m) |
### Observation Space
Expand All @@ -47,37 +47,37 @@ class AntEnv(mujoco_env.MujocoEnv, utils.EzPickle):
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 |
|-----|-------------------------------------------------------------|----------------|-----------------|----------------------------------------|-------|------|
| 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) |
| 3 | x-orientation of the torso (centre) | -Inf | Inf | torso | free | angle (rad) |
| 4 | y-orientation of the torso (centre) | -Inf | Inf | torso | free | angle (rad) |
| 5 | z-orientation of the torso (centre) | -Inf | Inf | torso | free | angle (rad) |
| 6 | w-orientation of the torso (centre) | -Inf | Inf | torso | free | angle (rad) |
| 7 | angle between torso and first link on front left | -Inf | Inf | hip_1 (front_left_leg) | hinge | angle (rad) |
| 8 | angle between the two links on the front left | -Inf | Inf | ankle_1 (front_left_leg) | hinge | angle (rad) |
| 9 | angle between torso and first link on front right | -Inf | Inf | hip_2 (front_right_leg) | hinge | angle (rad) |
| 10 | angle between the two links on the front right | -Inf | Inf | ankle_2 (front_right_leg) | hinge | angle (rad) |
| 11 | angle between torso and first link on back left | -Inf | Inf | hip_3 (back_leg) | hinge | angle (rad) |
| 12 | angle between the two links on the back left | -Inf | Inf | ankle_3 (back_leg) | hinge | angle (rad) |
| 13 | angle between torso and first link on back right | -Inf | Inf | hip_4 (right_back_leg) | hinge | angle (rad) |
| 14 | angle between the two links on the back right | -Inf | Inf | ankle_4 (right_back_leg) | hinge | angle (rad) |
| 15 | x-coordinate velocity of the torso | -Inf | Inf | torso | free | velocity (m/s) |
| 16 | y-coordinate velocity of the torso | -Inf | Inf | torso | free | velocity (m/s) |
| 17 | z-coordinate velocity of the torso | -Inf | Inf | torso | free | velocity (m/s) |
| 18 | x-coordinate angular velocity of the torso | -Inf | Inf | torso | free | angular velocity (rad/s) |
| 19 | y-coordinate angular velocity of the torso | -Inf | Inf | torso | free | angular velocity (rad/s) |
| 20 | z-coordinate angular velocity of the torso | -Inf | Inf | torso | free | angular velocity (rad/s) |
| 21 | angular velocity of angle between torso and front left link | -Inf | Inf | hip_1 (front_left_leg) | hinge | angle (rad) |
| 22 | angular velocity of the angle between front left links | -Inf | Inf | ankle_1 (front_left_leg) | hinge | angle (rad) |
| 23 | angular velocity of angle between torso and front right link| -Inf | Inf | hip_2 (front_right_leg) | hinge | angle (rad) |
| 24 | angular velocity of the angle between front right links | -Inf | Inf | ankle_2 (front_right_leg) | hinge | angle (rad) |
| 25 | angular velocity of angle between torso and back left link | -Inf | Inf | hip_3 (back_leg) | hinge | angle (rad) |
| 26 | angular velocity of the angle between back left links | -Inf | Inf | ankle_3 (back_leg) | hinge | angle (rad) |
| 27 | angular velocity of angle between torso and back right link | -Inf | Inf | hip_4 (right_back_leg) | hinge | angle (rad) |
| 28 |angular velocity of the angle between back right links | -Inf | Inf | ankle_4 (right_back_leg) | hinge | angle (rad) |
| 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) |
| 3 | x-orientation of the torso (centre) | -Inf | Inf | torso | free | angle (rad) |
| 4 | y-orientation of the torso (centre) | -Inf | Inf | torso | free | angle (rad) |
| 5 | z-orientation of the torso (centre) | -Inf | Inf | torso | free | angle (rad) |
| 6 | w-orientation of the torso (centre) | -Inf | Inf | torso | free | angle (rad) |
| 7 | angle between torso and first link on front left | -Inf | Inf | hip_1 (front_left_leg) | hinge | angle (rad) |
| 8 | angle between the two links on the front left | -Inf | Inf | ankle_1 (front_left_leg) | hinge | angle (rad) |
| 9 | angle between torso and first link on front right | -Inf | Inf | hip_2 (front_right_leg) | hinge | angle (rad) |
| 10 | angle between the two links on the front right | -Inf | Inf | ankle_2 (front_right_leg) | hinge | angle (rad) |
| 11 | angle between torso and first link on back left | -Inf | Inf | hip_3 (back_leg) | hinge | angle (rad) |
| 12 | angle between the two links on the back left | -Inf | Inf | ankle_3 (back_leg) | hinge | angle (rad) |
| 13 | angle between torso and first link on back right | -Inf | Inf | hip_4 (right_back_leg) | hinge | angle (rad) |
| 14 | angle between the two links on the back right | -Inf | Inf | ankle_4 (right_back_leg) | hinge | angle (rad) |
| 15 | x-coordinate velocity of the torso | -Inf | Inf | torso | free | velocity (m/s) |
| 16 | y-coordinate velocity of the torso | -Inf | Inf | torso | free | velocity (m/s) |
| 17 | z-coordinate velocity of the torso | -Inf | Inf | torso | free | velocity (m/s) |
| 18 | x-coordinate angular velocity of the torso | -Inf | Inf | torso | free | angular velocity (rad/s) |
| 19 | y-coordinate angular velocity of the torso | -Inf | Inf | torso | free | angular velocity (rad/s) |
| 20 | z-coordinate angular velocity of the torso | -Inf | Inf | torso | free | angular velocity (rad/s) |
| 21 | angular velocity of angle between torso and front left link | -Inf | Inf | hip_1 (front_left_leg) | hinge | angle (rad) |
| 22 | angular velocity of the angle between front left links | -Inf | Inf | ankle_1 (front_left_leg) | hinge | angle (rad) |
| 23 | angular velocity of angle between torso and front right link | -Inf | Inf | hip_2 (front_right_leg) | hinge | angle (rad) |
| 24 | angular velocity of the angle between front right links | -Inf | Inf | ankle_2 (front_right_leg) | hinge | angle (rad) |
| 25 | angular velocity of angle between torso and back left link | -Inf | Inf | hip_3 (back_leg) | hinge | angle (rad) |
| 26 | angular velocity of the angle between back left links | -Inf | Inf | ankle_3 (back_leg) | hinge | angle (rad) |
| 27 | angular velocity of angle between torso and back right link | -Inf | Inf | hip_4 (right_back_leg) | hinge | angle (rad) |
| 28 | angular velocity of the angle between back right links | -Inf | Inf | ankle_4 (right_back_leg) | hinge | angle (rad) |
The remaining 14*6 = 84 elements in the state are contact forces
Expand Down Expand Up @@ -148,14 +148,14 @@ class AntEnv(mujoco_env.MujocoEnv, utils.EzPickle):
env = gym.make('Ant-v2')
```
v3 and beyond take gym.make kwargs such as xml_file, ctrl_cost_weight, reset_noise_scale etc.
v3 and v4 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-v4', ctrl_cost_weight=0.1, ...)
```
### Version History
* v4: all mujoco environments now use the mujoco binidings in mujoco>=2.1.3
* v4: all mujoco environments now use the mujoco bindings in mujoco>=2.1.3
* v3: support for gym.make kwargs such as xml_file, ctrl_cost_weight, reset_noise_scale etc. rgb rendering comes from tracking camera (so agent does not run away from screen)
* v2: All continuous control environments now use mujoco_py >= 1.50
* v1: max_time_steps raised to 1000 for robot based tasks. Added reward_threshold to environments.
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