Skip to content

docs: fix naming errors in AeroHand documentation #272

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
copybara-service merged 1 commit into from
Jan 27, 2026
Merged

docs: fix naming errors in AeroHand documentation #272

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
14 changes: 7 additions & 7 deletions mujoco_playground/_src/manipulation/aero_hand/README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@ The model is adapted from the [Tetheria Aero Hand Open](https://docs.tetheria.ai
An overview of the hand is shown below:

| ![Rock](imgs/rock.png) | ![Paper](imgs/paper.png) | ![Scissor](imgs/scissor.png) |
|------------------------|------------------------|------------------------|
| ---------------------- | ------------------------ | ---------------------------- |


## 1. Tendon-Driven MuJoCo Model
Expand All @@ -25,9 +25,9 @@ The springs, which are also modeled by tendon components in MuJoCo, provide the
#### 1.1.3 Pulleys
The pulleys, which are modeled as cylinders, organize the cables and springs to ensure they are routed in a similar way to the real hand. Careful placement of these pulleys ensures accurate tendon routing.

| front view| close-up of index|
|------------------------|------------------------|
| ![skeleton](imgs/skeleton.png) | ![index](imgs/index_close_up.png)
| front view | close-up of index |
| ------------------------------ | --------------------------------- |
| ![skeleton](imgs/skeleton.png) | ![index](imgs/index_close_up.png) |

### 1.2 Parameters

Expand Down Expand Up @@ -68,7 +68,7 @@ To train policies for the Tetheria Hand:
```bash

# Run the training script
python learning/train_jax_ppo.py --env_name TetheriaCubeRotateZAxis
python learning/train_jax_ppo.py --env_name AeroCubeRotateZAxis
```

Although the reward curves from different training runs may vary due to stochasticity in the learning process, they consistently **converge toward a positive reward**.
Expand All @@ -80,7 +80,7 @@ To test trained policies in simulation:

```bash
# Run the simulation rollout script
python learning/train_jax_ppo.py --env_name TetheriaCubeRotateZAxis --play_only --load_checkpoint_path path/to/checkpoints
python learning/train_jax_ppo.py --env_name AeroCubeRotateZAxis --play_only --load_checkpoint_path path/to/checkpoints
```

This will:
Expand All @@ -91,7 +91,7 @@ This will:
## File Structure

### Core Implementation
- **`tetheria_hand_tendon_constants.py`** - Constants and configuration
- **`aero_hand_constants.py`** - Constants and configuration
- **`rotate_z.py`** - Cube rotation task implementation

### XML Models
Expand Down
Loading