Hopper#

Hopper

This Environment is part of MaMuJoCo environments. Please read that page first for general information. The task is Gymansium’s MuJoCo/Hopper.

Action Space#

The action spaces is depended on the partitioning

if partitioning is None:#

../../../_images/hopper.png

Instantiate

env = mamujoco_v0.parallel_env("Hopper", None)

Agents

agents= ['agent_0']

Number of Agents

1

Action Spaces

{'agent_0' : Box(-1, 1, (3,), float32)}

Part partition

[(thigh_joint, leg_joint, foot_joint,)]

If partitioning, is None, then the environment contains a single agent with the same action space as Gymansium’s MuJoCo/Half_Cheetah.

Num

Action

Control Min

Control Max

Name (in corresponding XML file)

Joint

Unit

0

Torque applied on the thigh rotor

-1

1

thigh_joint

hinge

torque (N m)

1

Torque applied on the leg rotor

-1

1

leg_joint

hinge

torque (N m)

2

Torque applied on the foot rotor

-1

1

foot_joint

hinge

torque (N m)

if partitioning == “3x1”: # each joint#

../../../_images/hopper_3x1.png

Instantiate

env = mamujoco_v0.parallel_env("Hopper", "3x1")

Agents

agents= ['agent_0', 'agent_1', 'agent_2']

Number of Agents

3

Action Spaces

{Box(-1, 1, (1,), float32)}

Part partition

[(thigh_joint,), (leg_joint,), (foot_joint,)]

The environment is partitioned in 3 parts, each part corresponding to a single joint.

Agent 0 action space#

Num

Action

Control Min

Control Max

Name (in corresponding XML file)

Joint

Unit

0

Torque applied on the thigh rotor

-1

1

thigh_joint

hinge

torque (N m)

Agent 1 action space#

Num

Action

Control Min

Control Max

Name (in corresponding XML file)

Joint

Unit

0

Torque applied on the leg rotor

-1

1

leg_joint

hinge

torque (N m)

Agent 2 action space#

Num

Action

Control Min

Control Max

Name (in corresponding XML file)

Joint

Unit

0

Torque applied on the foot rotor

-1

1

foot_joint

hinge

torque (N m)

Observation Space#

Observation Categories

Default local_categories

[["qpos", "qvel"], ["qpos"]]

Default global_categories

("qpos", "qvel")

Supported observation categories

"qpos", "qvel"

Besides the local observation of each agent (which depend on their parts of the agent, the observation categories and the observation depth), each agent also observes the position and velocity items of the hopper’s top. See more at the Gymnasium’s Hopper.

Rewards#

All agents receive the same Gymnasium’s Hopper reward.

Starting state#

The starting state of the environment is the as Gymnasium’s Hopper.

Episode End#

All agent terminate and truncate at same time given the same conditions as Gymnasium’s Hopper.

Version History#