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typo fix in humanoid(-standup) arguments DOC #792

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Nov 27, 2023
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typo fix in humanoid(-standup) arguments DOC #792

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8553b07
typo fix in humanoid(-standup) arguments DOC
Kallinteris-Andreas Nov 24, 2023
ea5233a
Update humanoidstandup_v5.py
Kallinteris-Andreas Nov 24, 2023
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2 changes: 1 addition & 1 deletion gymnasium/envs/mujoco/humanoid_v5.py
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Expand Up @@ -275,7 +275,7 @@ class HumanoidEnv(MujocoEnv, utils.EzPickle):
| `forward_reward_weight` | **float** | `1.25` | Weight for _forward_reward_ term (see section on reward) |
| `ctrl_cost_weight` | **float** | `0.1` | Weight for _ctrl_cost_ term (see section on reward) |
| `contact_cost_weight` | **float** | `5e-7` | Weight for _contact_cost_ term (see section on reward) |
| `contact_cost_range` | **float** | `(-np.inf, 10.0) | Clamps the _contact_cost_ term (see section on reward) |
| `contact_cost_range` | **float** | `(-np.inf, 10.0)`| Clamps the _contact_cost_ term (see section on reward) |
| `healthy_reward` | **float** | `5.0` | Weight for _healthy_reward_ term (see section on reward) |
| `terminate_when_unhealthy` | **bool** | `True` | If true, issue a done signal if the z-coordinate of the torso is no longer in the `healthy_z_range` |
| `healthy_z_range` | **tuple** | `(1.0, 2.0)` | The humanoid is considered healthy if the z-coordinate of the torso is in this range |
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2 changes: 1 addition & 1 deletion gymnasium/envs/mujoco/humanoidstandup_v5.py
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Expand Up @@ -263,7 +263,7 @@ class HumanoidStandupEnv(MujocoEnv, utils.EzPickle):
| `uph_cost_weight` | **float** | `1` | Weight for _uph_cost_ term (see section on reward) |
| `ctrl_cost_weight` | **float** | `0.1` | Weight for _quad_ctrl_cost_ term (see section on reward) |
| `impact_cost_weight` | **float** | `0.5e-6` | Weight for _impact_cost_ term (see section on reward) |
| `impact_cost_range` | **float** | `(-np.inf, 10.0) | Clamps the _impact_cost_ |
| `impact_cost_range` | **float** | `(-np.inf, 10.0)`| Clamps the _impact_cost_ |
| `reset_noise_scale` | **float** | `1e-2` | Scale of random perturbations of initial position and velocity (see section on Starting State) |
| `exclude_current_positions_from_observation` | **bool** | `True` | Whether or not to omit the x- and y-coordinates from observations. Excluding the position can serve as an inductive bias to induce position-agnostic behavior in policies |
| `include_cinert_in_observation` | **bool** | `True` | Whether to include *cinert* elements in the observations. |
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