From 3cd59f4cfa1dc01ecc1732e8490b5ba4dac1c4e1 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas <30759571+Kallinteris-Andreas@users.noreply.github.com> Date: Sat, 19 Oct 2024 13:14:49 +0300 Subject: [PATCH] Typos fix in MuJoCo's environment Changelog (#1220) --- gymnasium/envs/mujoco/hopper_v5.py | 2 +- gymnasium/envs/mujoco/inverted_double_pendulum_v5.py | 2 +- gymnasium/envs/mujoco/walker2d_v5.py | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/gymnasium/envs/mujoco/hopper_v5.py b/gymnasium/envs/mujoco/hopper_v5.py index 54a4adf23..ab088a338 100644 --- a/gymnasium/envs/mujoco/hopper_v5.py +++ b/gymnasium/envs/mujoco/hopper_v5.py @@ -145,7 +145,7 @@ class HopperEnv(MujocoEnv, utils.EzPickle): - Added `frame_skip` argument, used to configure the `dt` (duration of `step()`), default varies by environment check environment documentation pages. - Fixed bug: `healthy_reward` was given on every step (even if the Hopper was unhealthy), now it is only given when the Hopper is healthy. The `info["reward_survive"]` is updated with this change (related [GitHub issue](https://github.com/Farama-Foundation/Gymnasium/issues/526)). - Restored the `xml_file` argument (was removed in `v4`). - - Added individual reward terms in `info` (`info["reward_forward"]`, info`["reward_ctrl"]`, `info["reward_survive"]`). + - Added individual reward terms in `info` (`info["reward_forward"]`, `info["reward_ctrl"]`, `info["reward_survive"]`). - Added `info["z_distance_from_origin"]` which is equal to the vertical distance of the "torso" body from its initial position. * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3. * v3: Support for `gymnasium.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) diff --git a/gymnasium/envs/mujoco/inverted_double_pendulum_v5.py b/gymnasium/envs/mujoco/inverted_double_pendulum_v5.py index 07b44dae2..61791eab2 100644 --- a/gymnasium/envs/mujoco/inverted_double_pendulum_v5.py +++ b/gymnasium/envs/mujoco/inverted_double_pendulum_v5.py @@ -128,7 +128,7 @@ class InvertedDoublePendulumEnv(MujocoEnv, utils.EzPickle): - Added `xml_file` argument. - Added `reset_noise_scale` argument to set the range of initial states. - Added `healthy_reward` argument to configure the reward function (defaults are effectively the same as in `v4`). - - Added individual reward terms in `info` ( `info["reward_survive"]`, `info["distance_penalty"]`, `info["velocity_penalty"]`). + - Added individual reward terms in `info` (`info["reward_survive"]`, `info["distance_penalty"]`, `info["velocity_penalty"]`). * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3. * v3: This environment does not have a v3 release. * v2: All continuous control environments now use mujoco-py >= 1.50. diff --git a/gymnasium/envs/mujoco/walker2d_v5.py b/gymnasium/envs/mujoco/walker2d_v5.py index c9b22517f..40f3847cd 100644 --- a/gymnasium/envs/mujoco/walker2d_v5.py +++ b/gymnasium/envs/mujoco/walker2d_v5.py @@ -154,7 +154,7 @@ class Walker2dEnv(MujocoEnv, utils.EzPickle): - In v2, v3 and v4 the models have different friction values for the two feet (left foot friction == 1.9 and right foot friction == 0.9). The `Walker-v5` model is updated to have the same friction for both feet (set to 1.9). This causes the Walker2d's the right foot to slide less on the surface and therefore require more force to move (related [GitHub issue](https://github.com/Farama-Foundation/Gymnasium/issues/477)). - Fixed bug: `healthy_reward` was given on every step (even if the Walker2D is unhealthy), now it is only given if the Walker2d is healthy. The `info` "reward_survive" is updated with this change (related [GitHub issue](https://github.com/Farama-Foundation/Gymnasium/issues/526)). - Restored the `xml_file` argument (was removed in `v4`). - - Added individual reward terms in `info` (`info["reward_forward"]`, info`["reward_ctrl"]`, `info["reward_survive"]`). + - Added individual reward terms in `info` (`info["reward_forward"]`, `info["reward_ctrl"]`, `info["reward_survive"]`). - Added `info["z_distance_from_origin"]` which is equal to the vertical distance of the "torso" body from its initial position. * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3 * v3: Support for `gymnasium.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)