diff --git a/docs/environments/mujoco/action_space_figures/ant.png b/docs/environments/mujoco/action_space_figures/ant.png new file mode 100644 index 000000000..a39470c1b Binary files /dev/null and b/docs/environments/mujoco/action_space_figures/ant.png differ diff --git a/docs/environments/mujoco/action_space_figures/credits b/docs/environments/mujoco/action_space_figures/credits new file mode 100644 index 000000000..6529e36dd --- /dev/null +++ b/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 diff --git a/docs/environments/mujoco/action_space_figures/half_cheetah.png b/docs/environments/mujoco/action_space_figures/half_cheetah.png new file mode 100644 index 000000000..6d9150ac6 Binary files /dev/null and b/docs/environments/mujoco/action_space_figures/half_cheetah.png differ diff --git a/docs/environments/mujoco/action_space_figures/hopper.png b/docs/environments/mujoco/action_space_figures/hopper.png new file mode 100644 index 000000000..919d70712 Binary files /dev/null and b/docs/environments/mujoco/action_space_figures/hopper.png differ diff --git a/docs/environments/mujoco/action_space_figures/humanoid.png b/docs/environments/mujoco/action_space_figures/humanoid.png new file mode 100644 index 000000000..d03e62ebf Binary files /dev/null and b/docs/environments/mujoco/action_space_figures/humanoid.png differ diff --git a/docs/environments/mujoco/action_space_figures/pusher.png b/docs/environments/mujoco/action_space_figures/pusher.png new file mode 100644 index 000000000..fb78bbc1e Binary files /dev/null and b/docs/environments/mujoco/action_space_figures/pusher.png differ diff --git a/docs/environments/mujoco/action_space_figures/reacher.png b/docs/environments/mujoco/action_space_figures/reacher.png new file mode 100644 index 000000000..ebf2e3eea Binary files /dev/null and b/docs/environments/mujoco/action_space_figures/reacher.png differ diff --git a/docs/environments/mujoco/action_space_figures/swimmer.png b/docs/environments/mujoco/action_space_figures/swimmer.png new file mode 100644 index 000000000..b0104bc31 Binary files /dev/null and b/docs/environments/mujoco/action_space_figures/swimmer.png differ diff --git a/docs/environments/mujoco/action_space_figures/walker2d.png b/docs/environments/mujoco/action_space_figures/walker2d.png new file mode 100644 index 000000000..da312187d Binary files /dev/null and b/docs/environments/mujoco/action_space_figures/walker2d.png differ diff --git a/gymnasium/envs/mujoco/ant_v5.py b/gymnasium/envs/mujoco/ant_v5.py index d4f3435d5..5dd48d62c 100644 --- a/gymnasium/envs/mujoco/ant_v5.py +++ b/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) | diff --git a/gymnasium/envs/mujoco/half_cheetah_v5.py b/gymnasium/envs/mujoco/half_cheetah_v5.py index a58fc8583..a5989f773 100644 --- a/gymnasium/envs/mujoco/half_cheetah_v5.py +++ b/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) | diff --git a/gymnasium/envs/mujoco/hopper_v5.py b/gymnasium/envs/mujoco/hopper_v5.py index c058c3de4..093199262 100644 --- a/gymnasium/envs/mujoco/hopper_v5.py +++ b/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) | diff --git a/gymnasium/envs/mujoco/humanoid_v5.py b/gymnasium/envs/mujoco/humanoid_v5.py index 778ac23e0..625ea26e5 100644 --- a/gymnasium/envs/mujoco/humanoid_v5.py +++ b/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) | diff --git a/gymnasium/envs/mujoco/humanoidstandup_v5.py b/gymnasium/envs/mujoco/humanoidstandup_v5.py index fe6330560..2aa1d918a 100644 --- a/gymnasium/envs/mujoco/humanoidstandup_v5.py +++ b/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) | diff --git a/gymnasium/envs/mujoco/pusher_v5.py b/gymnasium/envs/mujoco/pusher_v5.py index c1be462ce..d0e7e8b32 100644 --- a/gymnasium/envs/mujoco/pusher_v5.py +++ b/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) | diff --git a/gymnasium/envs/mujoco/reacher_v5.py b/gymnasium/envs/mujoco/reacher_v5.py index 6b0bdd630..3005480a5 100644 --- a/gymnasium/envs/mujoco/reacher_v5.py +++ b/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) | diff --git a/gymnasium/envs/mujoco/swimmer_v5.py b/gymnasium/envs/mujoco/swimmer_v5.py index df727261e..8d8166e1c 100644 --- a/gymnasium/envs/mujoco/swimmer_v5.py +++ b/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) | diff --git a/gymnasium/envs/mujoco/walker2d_v5.py b/gymnasium/envs/mujoco/walker2d_v5.py index aa43a9875..ee623850a 100644 --- a/gymnasium/envs/mujoco/walker2d_v5.py +++ b/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) |