Hopper Environment

The Hopper environment is a high-dimensional continuous control task where a one-legged robot (hopper) must learn to hop forward as quickly as possible while maintaining balance. The goal is to maximize forward velocity while preventing the hopper from falling over. See the Gymnasium documentation for more details.

Hopper Animation

The Hopper 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

3.6651914291880923

thigh_mass

Mass of the thigh

4.057890510886818

leg_mass

Mass of the leg

2.7813566959781637

foot_mass

Mass of the foot

5.31557476987393

floor_friction

Friction coefficient of the floor

1.0

thigh_joint_damping

Damping coefficient of the thigh joint

1.0

leg_joint_damping

Damping coefficient of the leg joint

1.0

foot_joint_damping

Damping coefficient of the foot joint

1.0