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jamartinhjamartinh
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Fixed the description of Half Cheetah's observation space elements (#911)
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Diff for: ‎gymnasium/envs/mujoco/half_cheetah_v5.py

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@@ -53,26 +53,27 @@ class HalfCheetahEnv(MujocoEnv, utils.EzPickle):
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By default, however, the observation space is a `Box(-Inf, Inf, (17,), float64)` where the elements are as follows:
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| Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Type (Unit) |
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| --- | ------------------------------------ | ---- | --- | -------------------------------- | ----- | ------------------------ |
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| 0 | z-coordinate of the front tip | -Inf | Inf | rootz | slide | position (m) |
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| 1 | angle of the front tip | -Inf | Inf | rooty | hinge | angle (rad) |
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| 2 | angle of the second rotor | -Inf | Inf | bthigh | hinge | angle (rad) |
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| 3 | angle of the second rotor | -Inf | Inf | bshin | hinge | angle (rad) |
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| 4 | velocity of the tip along the x-axis | -Inf | Inf | bfoot | hinge | angle (rad) |
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| 5 | velocity of the tip along the y-axis | -Inf | Inf | fthigh | hinge | angle (rad) |
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| 6 | angular velocity of front tip | -Inf | Inf | fshin | hinge | angle (rad) |
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| 7 | angular velocity of second rotor | -Inf | Inf | ffoot | hinge | angle (rad) |
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| 8 | x-coordinate of the front tip | -Inf | Inf | rootx | slide | velocity (m/s) |
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| 9 | y-coordinate of the front tip | -Inf | Inf | rootz | slide | velocity (m/s) |
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| 10 | angle of the front tip | -Inf | Inf | rooty | hinge | angular velocity (rad/s) |
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| 11 | angle of the second rotor | -Inf | Inf | bthigh | hinge | angular velocity (rad/s) |
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| 12 | angle of the second rotor | -Inf | Inf | bshin | hinge | angular velocity (rad/s) |
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| 13 | velocity of the tip along the x-axis | -Inf | Inf | bfoot | hinge | angular velocity (rad/s) |
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| 14 | velocity of the tip along the y-axis | -Inf | Inf | fthigh | hinge | angular velocity (rad/s) |
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| 15 | angular velocity of front tip | -Inf | Inf | fshin | hinge | angular velocity (rad/s) |
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| 16 | angular velocity of second rotor | -Inf | Inf | ffoot | hinge | angular velocity (rad/s) |
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| excluded | x-coordinate of the front tip | -Inf | Inf | rootx | slide | position (m) |
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| Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Type (Unit) |
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| --- | ------------------------------------------- | ---- | --- | -------------------------------- | ----- | ------------------------ |
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| 0 | z-coordinate of the front tip | -Inf | Inf | rootz | slide | position (m) |
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| 1 | angle of the front tip | -Inf | Inf | rooty | hinge | angle (rad) |
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| 2 | angle of the back thigh | -Inf | Inf | bthigh | hinge | angle (rad) |
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| 3 | angle of the back shin | -Inf | Inf | bshin | hinge | angle (rad) |
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| 4 | angle of the back foot | -Inf | Inf | bfoot | hinge | angle (rad) |
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| 5 | angle of the front thigh | -Inf | Inf | fthigh | hinge | angle (rad) |
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| 6 | angle of the front shin | -Inf | Inf | fshin | hinge | angle (rad) |
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| 7 | angle of the front foot | -Inf | Inf | ffoot | hinge | angle (rad) |
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| 8 | velocity of the x-coordinate of front tip | -Inf | Inf | rootx | slide | velocity (m/s) |
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| 9 | velocity of the z-coordinate of front tip | -Inf | Inf | rootz | slide | velocity (m/s) |
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| 10 | angular velocity of the front tip | -Inf | Inf | rooty | hinge | angular velocity (rad/s) |
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| 11 | angular velocity of the back thigh | -Inf | Inf | bthigh | hinge | angular velocity (rad/s) |
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| 12 | angular velocity of the back shin | -Inf | Inf | bshin | hinge | angular velocity (rad/s) |
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| 13 | angular velocity of the back foot | -Inf | Inf | bfoot | hinge | angular velocity (rad/s) |
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| 14 | angular velocity of the front thigh | -Inf | Inf | fthigh | hinge | angular velocity (rad/s) |
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| 15 | angular velocity of the front shin | -Inf | Inf | fshin | hinge | angular velocity (rad/s) |
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| 16 | angular velocity of the front foot | -Inf | Inf | ffoot | hinge | angular velocity (rad/s) |
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| excluded | x-coordinate of the front tip | -Inf | Inf | rootx | slide | position (m) |
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