From 700373dba3fe0016408acad140a4e559530f1613 Mon Sep 17 00:00:00 2001
From: Kallinteris Andreas
 <30759571+Kallinteris-Andreas@users.noreply.github.com>
Date: Sun, 24 Mar 2024 13:10:24 +0200
Subject: [PATCH 1/2] Update humanoid_v5.py

---
 gymnasium/envs/mujoco/humanoid_v5.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gymnasium/envs/mujoco/humanoid_v5.py b/gymnasium/envs/mujoco/humanoid_v5.py
index b6b324b47..2b87c81f4 100644
--- a/gymnasium/envs/mujoco/humanoid_v5.py
+++ b/gymnasium/envs/mujoco/humanoid_v5.py
@@ -38,7 +38,7 @@ class HumanoidEnv(MujocoEnv, utils.EzPickle):
     :name: humanoid
     ```
 
-    The action space is a `Box(-1, 1, (17,), float32)`. An action represents the torques applied at the hinge joints.
+    The action space is a `Box(-0.4, 0.4, (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)  |
     | --- | ---------------------------------------------------------------------------------- | ----------- | ----------- | -------------------------------- | ----- | ------------ |

From e169b8fc8b5ae3f5006dfddeb856cebc3fdd927b Mon Sep 17 00:00:00 2001
From: Kallinteris Andreas
 <30759571+Kallinteris-Andreas@users.noreply.github.com>
Date: Sun, 24 Mar 2024 13:14:53 +0200
Subject: [PATCH 2/2] Update humanoidstandup_v5.py

---
 gymnasium/envs/mujoco/humanoidstandup_v5.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gymnasium/envs/mujoco/humanoidstandup_v5.py b/gymnasium/envs/mujoco/humanoidstandup_v5.py
index 8477ec0ca..6666274f7 100644
--- a/gymnasium/envs/mujoco/humanoidstandup_v5.py
+++ b/gymnasium/envs/mujoco/humanoidstandup_v5.py
@@ -32,7 +32,7 @@ class HumanoidStandupEnv(MujocoEnv, utils.EzPickle):
     :name: humanoid
     ```
 
-    The action space is a `Box(-1, 1, (17,), float32)`. An action represents the torques applied at the hinge joints.
+    The action space is a `Box(-0.4, 0.4, (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)  |
     | --- | ---------------------------------------------------------------------------------- | ----------- | ----------- | -------------------------------- | ----- | ------------ |