diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md index 70c2e427..9188d692 100644 --- a/CONTRIBUTING.md +++ b/CONTRIBUTING.md @@ -41,14 +41,14 @@ We use GitHub issues to track public bugs. Report a bug by [opening a new issue] #### Write bug reports with detail, background, and sample code -[This is an example](http://stackoverflow.com/q/12488905/180626) of a bug report, and I think it's a good model. Here's [another example from Craig Hockenberry](http://www.openradar.me/11905408), an app developer greatly respected in the community. +[This is an example](https://stackoverflow.com/q/12488905/180626) of a bug report, and I think it's a good model. Here's [another example from Craig Hockenberry](http://www.openradar.me/11905408), an app developer greatly respected in the community. **Great Bug Reports** tend to have: * A quick summary and/or background. * Steps to reproduce: * Be specific! - * Give sample code if you can. [A StackOverflow question](http://stackoverflow.com/q/12488905/180626) includes sample code that *anyone* with a base R setup can run to reproduce the error. + * Give sample code if you can. [A StackOverflow question](https://stackoverflow.com/q/12488905/180626) includes sample code that *anyone* with a base R setup can run to reproduce the error. * What you expected would happen * What happens? * Notes (possibly including why you think this might be happening or stuff you tried that didn't work). diff --git a/docs/source/dev/add_new_envs.rst b/docs/source/dev/add_new_envs.rst index edf3dacc..d76e18f6 100644 --- a/docs/source/dev/add_new_envs.rst +++ b/docs/source/dev/add_new_envs.rst @@ -3,7 +3,7 @@ Add new environments ==================== Please follow the steps provided in the :gymnasium:`gymnasium documentation ` -when creating a new environment. After you create your environment, you can use the :stable-gym:`stable-gym/stable_gym/__init__.py ` +when creating a new environment. After you create your environment, you can use the :stable-gym:`stable-gym/stable_gym/__init__.py ` file to register them to the ``stable_gym`` package. stable_gym/stable_gym/envs/__init__.py diff --git a/package-lock.json b/package-lock.json index 01775e8a..1de2c2e5 100644 --- a/package-lock.json +++ b/package-lock.json @@ -1,12 +1,12 @@ { "name": "stable-gym", - "version": "0.19.3", + "version": "0.20.1", "lockfileVersion": 3, "requires": true, "packages": { "": { "name": "stable-gym", - "version": "0.19.3", + "version": "0.20.1", "license": "MIT", "devDependencies": { "@commitlint/cli": "17.7.1", diff --git a/pyproject.toml b/pyproject.toml index 57b9cc74..05198dd1 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -50,8 +50,8 @@ dev = [ "isort>=5.12.0", ] docs = [ - "sphinx>=6.2.1", - "sphinx_rtd_theme>=1.2.2", + "sphinx>=7.1.2", + "sphinx_rtd_theme>=1.3.0", "myst-parser>=1.0.0", "sphinx-autoapi>=2.1.1", ] diff --git a/stable_gym/envs/robotics/minitaur/minitaur_bullet_cost/README.md b/stable_gym/envs/robotics/minitaur/minitaur_bullet_cost/README.md index 6079d526..ca4fd84b 100644 --- a/stable_gym/envs/robotics/minitaur/minitaur_bullet_cost/README.md +++ b/stable_gym/envs/robotics/minitaur/minitaur_bullet_cost/README.md @@ -5,7 +5,7 @@
-An actuated 8-jointed Minitaur. This environment corresponds to the [MinitaurBulletEnv-v0](https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py) environment included in the [pybullet package](https://pybullet.org/). It is different in the fact that: +An actuated 8-jointed Minitaur. This environment corresponds to the [MinitaurBulletEnv-v0](https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py) environment included in the [pybullet package](https://pybullet.org/). It is different in the fact that: * The objective was changed to a velocity-tracking task. To do this, the reward is replaced with a cost. This cost is the squared difference between @@ -16,11 +16,11 @@ An actuated 8-jointed Minitaur. This environment corresponds to the [MinitaurBul * Users are given the option to modify the Minitaur fall criteria, and thus the episode termination criteria. -The rest of the environment is the same as the original Minitaur environment. Please refer to the [original codebase](https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py) or [the article of Tan et al. 2018](https://arxiv.org/abs/1804.10332) on which the Minitaur environment is based for more information. +The rest of the environment is the same as the original Minitaur environment. Please refer to the [original codebase](https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py) or [the article of Tan et al. 2018](https://arxiv.org/abs/1804.10332) on which the Minitaur environment is based for more information. ## Observation space -The original observation space of the [MinitaurBulletEnv-v0](https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py) environment contains all eight motors' angles, velocities and torques. In this modified version, the observation space has been extended to add three additional observations: +The original observation space of the [MinitaurBulletEnv-v0](https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py) environment contains all eight motors' angles, velocities and torques. In this modified version, the observation space has been extended to add three additional observations: * $r$: The velocity reference signal that needs to be tracked. * $r_{error}$: The difference between the current and reference velocities. @@ -77,7 +77,7 @@ In addition to the observations, the cost and a termination and truncation boole [observation, cost, termination, truncation, info_dict] ``` -Compared to the original [MinitaurBulletEnv-v0](https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py) environment, the following keys were added to this info dictionary: +Compared to the original [MinitaurBulletEnv-v0](https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py) environment, the following keys were added to this info dictionary: * **reference**: The reference velocity. * **state\_of\_interest**: The state that should track the reference (SOI). diff --git a/stable_gym/envs/robotics/minitaur/minitaur_bullet_cost/__init__.py b/stable_gym/envs/robotics/minitaur/minitaur_bullet_cost/__init__.py index 4e6a6b8e..3ab2ba96 100644 --- a/stable_gym/envs/robotics/minitaur/minitaur_bullet_cost/__init__.py +++ b/stable_gym/envs/robotics/minitaur/minitaur_bullet_cost/__init__.py @@ -9,7 +9,7 @@ - Users are given the option to modify the Minitaur fall criteria and thus the episode termination criteria. -.. _`MinitaurBullet environment`: https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py +.. _`MinitaurBullet environment`: https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py .. _`Tan et al. 2018`: https://arxiv.org/abs/1804.10332 .. _`Han et al. 2020`: https://arxiv.org/abs/2004.14288 """ # noqa: E501 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 55343c4d..01f54c53 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 @@ -35,7 +35,7 @@ class MinitaurBulletCost(MinitaurBulletEnv, utils.EzPickle): The rest of the environment is the same as the original Minitaur environment. Please refer to the - `original codebase `__ + `original codebase `__ or `the article of Tan et al. 2018`_ on which the Minitaur environment is based for more information. .. _`Minitaur environment`: https://arxiv.org/abs/1804.10332