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Hopper

mujorax.HopperHopEnv

Bases: MjxPlaygroundEnv

DM Control HopperHop.

Planar one-legged hopper; dense reward proportional to forward speed while staying above a minimum torso height.

Parameters:

Name Type Description Default
config MjxPlaygroundConfig

Static configuration. Defaults to MjxPlaygroundConfig().

 None
Source code in mujorax/envs/hopper.py
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class HopperHopEnv(MjxPlaygroundEnv):
    """
    DM Control `HopperHop`.

    Planar one-legged hopper; dense reward proportional to forward
    speed while staying above a minimum torso height.

    Parameters
    ----------
    config : MjxPlaygroundConfig (optional)
        Static configuration. Defaults to `MjxPlaygroundConfig()`.
    """

    _PLAYGROUND_NAME = "HopperHop"

mujorax.HopperStandEnv

Bases: MjxPlaygroundEnv

DM Control HopperStand.

Same body as HopperHop; dense reward for standing upright with the torso above a minimum height.

Parameters:

Name Type Description Default
config MjxPlaygroundConfig

Static configuration. Defaults to MjxPlaygroundConfig().

 None
Source code in mujorax/envs/hopper.py
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class HopperStandEnv(MjxPlaygroundEnv):
    """
    DM Control `HopperStand`.

    Same body as `HopperHop`; dense reward for standing upright with
    the torso above a minimum height.

    Parameters
    ----------
    config : MjxPlaygroundConfig (optional)
        Static configuration. Defaults to `MjxPlaygroundConfig()`.
    """

    _PLAYGROUND_NAME = "HopperStand"