Fix typo (#89)

docs/custom/custom_task.rst

@@ -16,7 +16,7 @@ To define your own task, you need to inherit from :py:class:`Task<panda_gym.envs
 - ``reset()``: how the task is reset; you must define `self.goal` in this function
 - ``get_obs()``: returns the observation
 - ``get_achieved_goal()``: returns the achieved goal
-- ``is_success(achieved_goal, desired_goal, info)``: returns whether the task is successfull
+- ``is_success(achieved_goal, desired_goal, info)``: returns whether the task is successful
 - ``compute_reward(achieved_goal, desired_goal, info)``: returns the reward
 
 For the purpose of the example, let's consider here a very simple task, consisting in moving a cube toward a target position. The goal position is sampled within a volume of 10 m x 10 m x 10 m. 
@@ -51,14 +51,14 @@ For the purpose of the example, let's consider here a very simple task, consisti
             achieved_goal = self.sim.get_base_position("object")
             return achieved_goal
 
-        def is_success(self, achieved_goal, desired_goal, info={}):  # info is here for consistancy
+        def is_success(self, achieved_goal, desired_goal, info={}):  # info is here for consistency 
             # compute the distance between the goal position and the current object position
             d = distance(achieved_goal, desired_goal)
             # return True if the distance is < 1.0, and False otherwise
             return np.array(d < 1.0, dtype=bool)
 
-        def compute_reward(self, achieved_goal, desired_goal, info={}):  # info is here for consistancy
-            # for this example, reward = 1.0 if the task is successfull, 0.0 otherwise
+        def compute_reward(self, achieved_goal, desired_goal, info={}):  # info is here for consistency
+            # for this example, reward = 1.0 if the task is successful, 0.0 otherwise
             return self.is_success(achieved_goal, desired_goal, info).astype(np.float32)
             
 

docs/usage/advanced_rendering.rst

@@ -41,11 +41,11 @@ You can render from a different point of view than the default. For this, the fo
 
 - ``render_width`` (int, optional): Image width. Defaults to 720.
 - ``render_height`` (int, optional): Image height. Defaults to 480.
-- ``render_target_position`` (np.ndarray, optional): Camera targetting this postion, as (x, y, z). Defaults to [0., 0., 0.].
+- ``render_target_position`` (np.ndarray, optional): Camera targeting this position, as (x, y, z). Defaults to [0., 0., 0.].
 - ``render_distance`` (float, optional): Distance of the camera. Defaults to 1.4.
 - ``render_yaw`` (float, optional): Yaw of the camera. Defaults to 45.
 - ``render_pitch`` (float, optional): Pitch of the camera. Defaults to -30.
-- ``render_roll`` (int, optional): Rool of the camera. Defaults to 0.
+- ``render_roll`` (int, optional): Roll of the camera. Defaults to 0.
 
 Example
 ~~~~~~~

docs/usage/environments.rst

@@ -24,7 +24,7 @@ Environments
 By default, the reward is sparse and the control mode is the end-effector displacement.
 The complete set of environments present in the package is presented in the following list.
 
-Sparce reward, end-effector control (default setting)
+Sparse reward, end-effector control (default setting)
 -----------------------------------------------------
 
 * ``PandaReach-v3``
@@ -44,7 +44,7 @@ Dense reward, end-effector control
 * ``PandaStackDense-v3``
 * ``PandaFlipDense-v3``
 
-Sparce reward, joints control
+Sparse reward, joints control
 -----------------------------
 
 * ``PandaReachJoints-v3``

docs/usage/train_with_sb3.rst

@@ -37,7 +37,7 @@ Bonus: Train with RL Baselines3 Zoo
 -----------------------------------
 
 `RL Baselines3 Zoo <https://stable-baselines3.readthedocs.io/en/master/guide/rl_zoo.html>`_ is the training framework associated with SB3.
-It provides scripts for training, evaluating agents, setting hyperparameters, plotting results and recording video. It also contains already optimized hypermeters, including for some ``panda-gym`` environments.
+It provides scripts for training, evaluating agents, setting hyperparameters, plotting results and recording video. It also contains already optimized hyperparameters, including for some ``panda-gym`` environments.
 
 .. warning::
     The current version of RL Baselines3 Zoo provides hyperparameters for version 1 of ``panda-gym``, but not for version 2. Before training with RL Baselines3 Zoo, you will have to set your own hyperparameters by editing ``hyperparameters/<ALGO>.yml``. For more information, please read the `README of RL Baselines3 Zoo <https://github.com/DLR-RM/rl-baselines3-zoo#readme>`_.

panda_gym/envs/core.py

@@ -202,12 +202,12 @@ class RobotTaskEnv(gym.Env):
         task (Task): The task.
         render_width (int, optional): Image width. Defaults to 720.
         render_height (int, optional): Image height. Defaults to 480.
-        render_target_position (np.ndarray, optional): Camera targetting this postion, as (x, y, z).
+        render_target_position (np.ndarray, optional): Camera targeting this position, as (x, y, z).
             Defaults to [0., 0., 0.].
         render_distance (float, optional): Distance of the camera. Defaults to 1.4.
         render_yaw (float, optional): Yaw of the camera. Defaults to 45.
         render_pitch (float, optional): Pitch of the camera. Defaults to -30.
-        render_roll (int, optional): Rool of the camera. Defaults to 0.
+        render_roll (int, optional): Roll of the camera. Defaults to 0.
     """
 
     metadata = {"render_modes": ["human", "rgb_array"]}
@@ -286,7 +286,7 @@ def reset(
         return observation, info
 
     def save_state(self) -> int:
-        """Save the current state of the envrionment. Restore with `restore_state`.
+        """Save the current state of the environment. Restore with `restore_state`.
 
         Returns:
             int: State unique identifier.
@@ -296,7 +296,7 @@ def save_state(self) -> int:
         return state_id
 
     def restore_state(self, state_id: int) -> None:
-        """Resotre the state associated with the unique identifier.
+        """Restore the state associated with the unique identifier.
 
         Args:
             state_id (int): State unique identifier.

panda_gym/envs/panda_tasks.py

@@ -25,12 +25,12 @@ class PandaFlipEnv(RobotTaskEnv):
             and "OpenGL" if render mode is "rgb_array". Only "OpenGL" is available for human render mode.
         render_width (int, optional): Image width. Defaults to 720.
         render_height (int, optional): Image height. Defaults to 480.
-        render_target_position (np.ndarray, optional): Camera targetting this postion, as (x, y, z).
+        render_target_position (np.ndarray, optional): Camera targeting this position, as (x, y, z).
             Defaults to [0., 0., 0.].
         render_distance (float, optional): Distance of the camera. Defaults to 1.4.
         render_yaw (float, optional): Yaw of the camera. Defaults to 45.
         render_pitch (float, optional): Pitch of the camera. Defaults to -30.
-        render_roll (int, optional): Rool of the camera. Defaults to 0.
+        render_roll (int, optional): Roll of the camera. Defaults to 0.
 
     """
 
@@ -76,12 +76,12 @@ class PandaPickAndPlaceEnv(RobotTaskEnv):
             and "OpenGL" if render mode is "rgb_array". Only "OpenGL" is available for human render mode.
         render_width (int, optional): Image width. Defaults to 720.
         render_height (int, optional): Image height. Defaults to 480.
-        render_target_position (np.ndarray, optional): Camera targetting this postion, as (x, y, z).
+        render_target_position (np.ndarray, optional): Camera targeting this position, as (x, y, z).
             Defaults to [0., 0., 0.].
         render_distance (float, optional): Distance of the camera. Defaults to 1.4.
         render_yaw (float, optional): Yaw of the camera. Defaults to 45.
         render_pitch (float, optional): Pitch of the camera. Defaults to -30.
-        render_roll (int, optional): Rool of the camera. Defaults to 0.
+        render_roll (int, optional): Roll of the camera. Defaults to 0.
     """
 
     def __init__(
@@ -126,12 +126,12 @@ class PandaPushEnv(RobotTaskEnv):
             and "OpenGL" if render mode is "rgb_array". Only "OpenGL" is available for human render mode.
         render_width (int, optional): Image width. Defaults to 720.
         render_height (int, optional): Image height. Defaults to 480.
-        render_target_position (np.ndarray, optional): Camera targetting this postion, as (x, y, z).
+        render_target_position (np.ndarray, optional): Camera targeting this position, as (x, y, z).
             Defaults to [0., 0., 0.].
         render_distance (float, optional): Distance of the camera. Defaults to 1.4.
         render_yaw (float, optional): Yaw of the camera. Defaults to 45.
         render_pitch (float, optional): Pitch of the camera. Defaults to -30.
-        render_roll (int, optional): Rool of the camera. Defaults to 0.
+        render_roll (int, optional): Roll of the camera. Defaults to 0.
     """
 
     def __init__(
@@ -176,12 +176,12 @@ class PandaReachEnv(RobotTaskEnv):
             and "OpenGL" if render mode is "rgb_array". Only "OpenGL" is available for human render mode.
         render_width (int, optional): Image width. Defaults to 720.
         render_height (int, optional): Image height. Defaults to 480.
-        render_target_position (np.ndarray, optional): Camera targetting this postion, as (x, y, z).
+        render_target_position (np.ndarray, optional): Camera targeting this position, as (x, y, z).
             Defaults to [0., 0., 0.].
         render_distance (float, optional): Distance of the camera. Defaults to 1.4.
         render_yaw (float, optional): Yaw of the camera. Defaults to 45.
         render_pitch (float, optional): Pitch of the camera. Defaults to -30.
-        render_roll (int, optional): Rool of the camera. Defaults to 0.
+        render_roll (int, optional): Roll of the camera. Defaults to 0.
     """
 
     def __init__(
@@ -226,12 +226,12 @@ class PandaSlideEnv(RobotTaskEnv):
             and "OpenGL" if render mode is "rgb_array". Only "OpenGL" is available for human render mode.
         render_width (int, optional): Image width. Defaults to 720.
         render_height (int, optional): Image height. Defaults to 480.
-        render_target_position (np.ndarray, optional): Camera targetting this postion, as (x, y, z).
+        render_target_position (np.ndarray, optional): Camera targeting this position, as (x, y, z).
             Defaults to [0., 0., 0.].
         render_distance (float, optional): Distance of the camera. Defaults to 1.4.
         render_yaw (float, optional): Yaw of the camera. Defaults to 45.
         render_pitch (float, optional): Pitch of the camera. Defaults to -30.
-        render_roll (int, optional): Rool of the camera. Defaults to 0.
+        render_roll (int, optional): Roll of the camera. Defaults to 0.
     """
 
     def __init__(
@@ -276,12 +276,12 @@ class PandaStackEnv(RobotTaskEnv):
             and "OpenGL" if render mode is "rgb_array". Only "OpenGL" is available for human render mode.
         render_width (int, optional): Image width. Defaults to 720.
         render_height (int, optional): Image height. Defaults to 480.
-        render_target_position (np.ndarray, optional): Camera targetting this postion, as (x, y, z).
+        render_target_position (np.ndarray, optional): Camera targeting this position, as (x, y, z).
             Defaults to [0., 0., 0.].
         render_distance (float, optional): Distance of the camera. Defaults to 1.4.
         render_yaw (float, optional): Yaw of the camera. Defaults to 45.
         render_pitch (float, optional): Pitch of the camera. Defaults to -30.
-        render_roll (int, optional): Rool of the camera. Defaults to 0.
+        render_roll (int, optional): Roll of the camera. Defaults to 0.
     """
 
     def __init__(

panda_gym/envs/robots/panda.py

@@ -13,7 +13,7 @@ class Panda(PyBulletRobot):
     Args:
         sim (PyBullet): Simulation instance.
         block_gripper (bool, optional): Whether the gripper is blocked. Defaults to False.
-        base_position (np.ndarray, optionnal): Position of the base base of the robot, as (x, y, z). Defaults to (0, 0, 0).
+        base_position (np.ndarray, optional): Position of the base base of the robot, as (x, y, z). Defaults to (0, 0, 0).
         control_type (str, optional): "ee" to control end-effector displacement or "joints" to control joint angles.
             Defaults to "ee".
     """

panda_gym/pybullet.py

@@ -115,12 +115,12 @@ def render(
         Args:
             width (int, optional): Image width. Defaults to 720.
             height (int, optional): Image height. Defaults to 480.
-            target_position (np.ndarray, optional): Camera targetting this postion, as (x, y, z).
+            target_position (np.ndarray, optional): Camera targeting this position, as (x, y, z).
                 Defaults to [0., 0., 0.].
             distance (float, optional): Distance of the camera. Defaults to 1.4.
             yaw (float, optional): Yaw of the camera. Defaults to 45.
             pitch (float, optional): Pitch of the camera. Defaults to -30.
-            roll (int, optional): Rool of the camera. Defaults to 0.
+            roll (int, optional): Roll of the camera. Defaults to 0.
             mode (str, optional): Deprecated: This argument is deprecated and will be removed in a future
                 version. Use the render_mode argument of the constructor instead.
 
@@ -623,7 +623,7 @@ def create_table(
             length (float): The length of the table (x direction).
             width (float): The width of the table (y direction)
             height (float): The height of the table.
-            x_offset (float, optional): The offet in the x direction.
+            x_offset (float, optional): The offset in the x direction.
             lateral_friction (float or None, optional): Lateral friction. If None, use the default pybullet
                 value. Defaults to None.
             spinning_friction (float or None, optional): Spinning friction. If None, use the default pybullet

test/pybullet_test.py

@@ -266,7 +266,7 @@ def test_inverse_kinematics():
     pybullet.close()
 
 
-def test_place_visalizer():
+def test_place_visualizer():
     from panda_gym.pybullet import PyBullet
 
     pybullet = PyBullet()