HalfCheetah Environment

The HalfCheetah environment is a high-dimensional continuous control task where a two-legged robot (half-cheetah) must learn to run forward as fast as possible. The goal is to maximize forward velocity while maintaining balance and stability. See the Gymnasium documentation for more details.

HalfCheetah Animation

The HalfCheetah Environment. GIF courtesy of the Gymnasium Documentation.

Tunable Parameters

Parameter

Description

Default Value

gravity

Global gravitational acceleration

[ 0. 0. -9.81]

torso_mass

Mass of the torso

6.25020920502092

bthigh_mass

Mass of the back thigh

1.5435146443514645

bshin_mass

Mass of the back shin

1.5874476987447697

bfoot_mass

Mass of the back foot

1.0953974895397491

fthigh_mass

Mass of the front thigh

1.4380753138075317

fshin_mass

Mass of the front shin

1.200836820083682

ffeet_mass

Mass of the front feet

0.8845188284518829

floor_friction

Friction coefficient of the floor

0.4

bthigh_damping

Back thigh joint damping

6.0

bshin_damping

Back shin joint damping

4.5

bfoot_damping

Back foot joint damping

3.0

fthigh_damping

Front thigh joint damping

4.5

fshin_damping

Front shin joint damping

3.0

ffeet_damping

Front feet joint damping

1.5