From c5119940eb6110fed6558ce26541a972a4e2b64a Mon Sep 17 00:00:00 2001
From: Kallinteris Andreas
 <30759571+Kallinteris-Andreas@users.noreply.github.com>
Date: Mon, 30 Dec 2024 22:50:33 +0200
Subject: [PATCH] Update humanoidstandup_v5.py

---
 gymnasium/envs/mujoco/humanoidstandup_v5.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gymnasium/envs/mujoco/humanoidstandup_v5.py b/gymnasium/envs/mujoco/humanoidstandup_v5.py
index 2d0b16451..1108f92c0 100644
--- a/gymnasium/envs/mujoco/humanoidstandup_v5.py
+++ b/gymnasium/envs/mujoco/humanoidstandup_v5.py
@@ -195,7 +195,7 @@ class HumanoidStandupEnv(MujocoEnv, utils.EzPickle):
     A reward for moving up (trying to stand up).
     This is not a relative reward, measuring how far up the robot has moved since the last timestep,
     but an absolute reward measuring how far up the Humanoid has moved up in total.
-    It is measured as $w_{uph} \times (z_{after-action} - 0)/dt$,
+    It is measured as $w_{uph} \times \frac{z_{after-action} - 0}{dt}$,
     where $z_{after-action}$ is the z coordinate of the torso after taking an action,
     and $dt$ is the time between actions, which depends on the `frame_skip` parameter (default is $5$),
     and `frametime`, which is $0.01$ - so the default is $dt = 5 \times 0.01 = 0.05$,