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Fix MuJoCo.Ant action order in DOC #208

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Dec 10, 2022
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Fix MuJoCo.Ant action order in DOC #208

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16 changes: 8 additions & 8 deletions gymnasium/envs/mujoco/ant_v4.py
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Expand Up @@ -28,14 +28,14 @@ class AntEnv(MujocoEnv, utils.EzPickle):

| Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit |
| --- | ----------------------------------------------------------------- | ----------- | ----------- | -------------------------------- | ----- | ------------ |
| 0 | Torque applied on the rotor between the torso and front left hip | -1 | 1 | hip_1 (front_left_leg) | hinge | torque (N m) |
| 1 | Torque applied on the rotor between the front left two links | -1 | 1 | angle_1 (front_left_leg) | hinge | torque (N m) |
| 2 | Torque applied on the rotor between the torso and front right hip | -1 | 1 | hip_2 (front_right_leg) | hinge | torque (N m) |
| 3 | Torque applied on the rotor between the front right two links | -1 | 1 | angle_2 (front_right_leg) | hinge | torque (N m) |
| 4 | Torque applied on the rotor between the torso and back left hip | -1 | 1 | hip_3 (back_leg) | hinge | torque (N m) |
| 5 | Torque applied on the rotor between the back left two links | -1 | 1 | angle_3 (back_leg) | hinge | torque (N m) |
| 6 | Torque applied on the rotor between the torso and back right hip | -1 | 1 | hip_4 (right_back_leg) | hinge | torque (N m) |
| 7 | Torque applied on the rotor between the back right two links | -1 | 1 | angle_4 (right_back_leg) | hinge | torque (N m) |
| 0 | Torque applied on the rotor between the torso and back right hip | -1 | 1 | hip_4 (right_back_leg) | hinge | torque (N m) |
| 1 | Torque applied on the rotor between the back right two links | -1 | 1 | angle_4 (right_back_leg) | hinge | torque (N m) |
| 2 | Torque applied on the rotor between the torso and front left hip | -1 | 1 | hip_1 (front_left_leg) | hinge | torque (N m) |
| 3 | Torque applied on the rotor between the front left two links | -1 | 1 | angle_1 (front_left_leg) | hinge | torque (N m) |
| 4 | Torque applied on the rotor between the torso and front right hip | -1 | 1 | hip_2 (front_right_leg) | hinge | torque (N m) |
| 5 | Torque applied on the rotor between the front right two links | -1 | 1 | angle_2 (front_right_leg) | hinge | torque (N m) |
| 6 | Torque applied on the rotor between the torso and back left hip | -1 | 1 | hip_3 (back_leg) | hinge | torque (N m) |
| 7 | Torque applied on the rotor between the back left two links | -1 | 1 | angle_3 (back_leg) | hinge | torque (N m) |

## Observation Space

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