Humanoid Environment

The Humanoid environment is a high-dimensional continuous control task where a humanoid robot must learn to walk and navigate through its environment. The goal is to maximize forward velocity while maintaining balance and stability. See the Gymnasium documentation for more details.

The Humanoid 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	8.907462370478262
lwaist_mass	Mass of the left waist	2.261946710584651
pelvis_mass	Mass of the pelvis	6.616194128460103
right_thigh_mass	Mass of the right thigh	4.751750928806241
left_thigh_mass	Mass of the left thigh	4.751750928806241
right_shin_mass	Mass of the right shin	2.7556961671836424
left_shin_mass	Mass of the left shin	2.7556961671836424
right_foot_mass	Mass of the right foot	1.7671458676442586
left_foot_mass	Mass of the left foot	1.7671458676442586
right_upper_arm_mass	Mass of the right upper arm	1.6610804848382084
left_upper_arm_mass	Mass of the left upper arm	1.6610804848382084
right_lower_arm_mass	Mass of the right lower arm	1.2295401928310803
left_lower_arm_mass	Mass of the left lower arm	1.2295401928310803
floor_friction	Friction coefficient of the floor	1.0
right_knee_damping	Damping coefficient of the right knee joint	5.0
left_knee_damping	Damping coefficient of the left knee joint	5.0
right_elbow_damping	Damping coefficient of the right elbow joint	5.0
left_elbow_damping	Damping coefficient of the left elbow joint	1.0