From c2bd874317c2265bfa4dcaa1d87743a4b7b1f25b Mon Sep 17 00:00:00 2001 From: Rick Staa Date: Thu, 15 Feb 2024 15:19:53 +0100 Subject: [PATCH] docs(Minitaur): improve docstring This commit improves the MinitaurBulletCost docstring. --- .../minitaur/minitaur_bullet_cost/minitaur_bullet_cost.py | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/stable_gym/envs/robotics/minitaur/minitaur_bullet_cost/minitaur_bullet_cost.py b/stable_gym/envs/robotics/minitaur/minitaur_bullet_cost/minitaur_bullet_cost.py index e4505fe7..d6520774 100644 --- a/stable_gym/envs/robotics/minitaur/minitaur_bullet_cost/minitaur_bullet_cost.py +++ b/stable_gym/envs/robotics/minitaur/minitaur_bullet_cost/minitaur_bullet_cost.py @@ -39,6 +39,12 @@ class MinitaurBulletCost(MinitaurBulletEnv, utils.EzPickle): `original codebase `__ or `the article of Tan et al. 2018`_ on which the Minitaur environment is based for more information. + .. important:: + In `Han et al. 2020`_, the authors disabled the termination criteria. In our implementation, we have + kept them for consistency with the original Minitaur environment. The termination criteria can be + enabled by setting the :arg:`fall_criteria_up_rotation` and :arg:`fall_criteria_z_position` to + :obj:`np.inf`. + .. _`Minitaur environment`: https://arxiv.org/abs/1804.10332 .. _`Han et al. 2020`: https://arxiv.org/abs/2004.14288 .. _`the article of Tan et al. 2018`: https://arxiv.org/abs/1804.10332 @@ -46,7 +52,7 @@ class MinitaurBulletCost(MinitaurBulletEnv, utils.EzPickle): Observation: **Type**: Box(28) - The angles, velocities and torques of all motors. + Contains angles, velocities, and torques of all motors. Optionally, it can also include the reference, reference error, and x velocity. Actions: **Type**: Box(8)