diff --git a/gymnasium/envs/mujoco/ant_v5.py b/gymnasium/envs/mujoco/ant_v5.py index abe0db87c..3a9ffaacd 100644 --- a/gymnasium/envs/mujoco/ant_v5.py +++ b/gymnasium/envs/mujoco/ant_v5.py @@ -61,10 +61,10 @@ class AntEnv(MujocoEnv, utils.EzPickle): | Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Type (Unit) | |-----|--------------------------------------------------------------|--------|--------|----------------------------------------|-------|--------------------------| | 0 | z-coordinate of the torso (centre) | -Inf | Inf | root | free | position (m) | - | 1 | x-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) | - | 2 | y-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) | - | 3 | z-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) | - | 4 | w-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) | + | 1 | w-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) | + | 2 | x-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) | + | 3 | y-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) | + | 4 | z-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) | | 5 | angle between torso and first link on front left | -Inf | Inf | hip_1 (front_left_leg) | hinge | angle (rad) | | 6 | angle between the two links on the front left | -Inf | Inf | ankle_1 (front_left_leg) | hinge | angle (rad) | | 7 | angle between torso and first link on front right | -Inf | Inf | hip_2 (front_right_leg) | hinge | angle (rad) | diff --git a/gymnasium/envs/mujoco/humanoid_v5.py b/gymnasium/envs/mujoco/humanoid_v5.py index 2b87c81f4..b0b96cc4d 100644 --- a/gymnasium/envs/mujoco/humanoid_v5.py +++ b/gymnasium/envs/mujoco/humanoid_v5.py @@ -92,10 +92,10 @@ class HumanoidEnv(MujocoEnv, utils.EzPickle): | Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Type (Unit) | | --- | --------------------------------------------------------------------------------------------------------------- | ---- | --- | -------------------------------- | ----- | -------------------------- | | 0 | z-coordinate of the torso (centre) | -Inf | Inf | root | free | position (m) | - | 1 | x-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) | - | 2 | y-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) | - | 3 | z-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) | - | 4 | w-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) | + | 1 | w-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) | + | 2 | x-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) | + | 3 | y-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) | + | 4 | z-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) | | 5 | z-angle of the abdomen (in lower_waist) | -Inf | Inf | abdomen_z | hinge | angle (rad) | | 6 | y-angle of the abdomen (in lower_waist) | -Inf | Inf | abdomen_y | hinge | angle (rad) | | 7 | x-angle of the abdomen (in pelvis) | -Inf | Inf | abdomen_x | hinge | angle (rad) | diff --git a/gymnasium/envs/mujoco/humanoidstandup_v5.py b/gymnasium/envs/mujoco/humanoidstandup_v5.py index 6666274f7..b35426272 100644 --- a/gymnasium/envs/mujoco/humanoidstandup_v5.py +++ b/gymnasium/envs/mujoco/humanoidstandup_v5.py @@ -86,10 +86,10 @@ class HumanoidStandupEnv(MujocoEnv, utils.EzPickle): | Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Type (Unit) | | --- | --------------------------------------------------------------------------------------------------------------- | ---- | --- | -------------------------------- | ----- | -------------------------- | | 0 | z-coordinate of the torso (centre) | -Inf | Inf | root | free | position (m) | - | 1 | x-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) | - | 2 | y-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) | - | 3 | z-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) | - | 4 | w-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) | + | 1 | w-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) | + | 2 | x-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) | + | 3 | y-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) | + | 4 | z-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) | | 5 | z-angle of the abdomen (in lower_waist) | -Inf | Inf | abdomen_z | hinge | angle (rad) | | 6 | y-angle of the abdomen (in lower_waist) | -Inf | Inf | abdomen_y | hinge | angle (rad) | | 7 | x-angle of the abdomen (in pelvis) | -Inf | Inf | abdomen_x | hinge | angle (rad) |