Change .gitignore; push docs/build to GitHub
This commit is contained in:
Vendored
+472
@@ -0,0 +1,472 @@
|
||||
<!DOCTYPE html>
|
||||
<html class="writer-html5" lang="en" >
|
||||
<head>
|
||||
<meta charset="utf-8" /><meta name="generator" content="Docutils 0.19: https://docutils.sourceforge.io/" />
|
||||
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
|
||||
<title>DeepMind Control (DMC) — Fancy Gym 0.2 documentation</title>
|
||||
<link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
|
||||
<link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
|
||||
<link rel="stylesheet" href="../_static/style.css" type="text/css" />
|
||||
<link rel="shortcut icon" href="../_static/icon.svg"/>
|
||||
<!--[if lt IE 9]>
|
||||
<script src="../_static/js/html5shiv.min.js"></script>
|
||||
<![endif]-->
|
||||
|
||||
<script data-url_root="../" id="documentation_options" src="../_static/documentation_options.js"></script>
|
||||
<script src="../_static/jquery.js"></script>
|
||||
<script src="../_static/underscore.js"></script>
|
||||
<script src="../_static/_sphinx_javascript_frameworks_compat.js"></script>
|
||||
<script src="../_static/doctools.js"></script>
|
||||
<script src="../_static/sphinx_highlight.js"></script>
|
||||
<script src="../_static/js/theme.js"></script>
|
||||
<link rel="index" title="Index" href="../genindex.html" />
|
||||
<link rel="search" title="Search" href="../search.html" />
|
||||
<link rel="next" title="Metaworld" href="meta.html" />
|
||||
<link rel="prev" title="Classic Control" href="fancy/classic_control.html" />
|
||||
|
||||
|
||||
</head>
|
||||
|
||||
<body class="wy-body-for-nav">
|
||||
<div class="wy-grid-for-nav">
|
||||
<nav data-toggle="wy-nav-shift" class="wy-nav-side">
|
||||
<div class="wy-side-scroll">
|
||||
<div class="wy-side-nav-search" >
|
||||
|
||||
|
||||
|
||||
<a href="../index.html" class="icon icon-home">
|
||||
Fancy Gym
|
||||
<img src="../_static/icon.svg" class="logo" alt="Logo"/>
|
||||
</a>
|
||||
<div class="version">
|
||||
0.2
|
||||
</div>
|
||||
<div role="search">
|
||||
<form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
|
||||
<input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
|
||||
<input type="hidden" name="check_keywords" value="yes" />
|
||||
<input type="hidden" name="area" value="default" />
|
||||
</form>
|
||||
</div>
|
||||
</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
|
||||
<p class="caption" role="heading"><span class="caption-text">User Guide</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../guide/installation.html">Installation</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../guide/episodic_rl.html">What is Episodic RL?</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../guide/basic_usage.html">Basic Usage</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../guide/upgrading_envs.html">Creating new MP Environments</a></li>
|
||||
</ul>
|
||||
<p class="caption" role="heading"><span class="caption-text">Environments</span></p>
|
||||
<ul class="current">
|
||||
<li class="toctree-l1"><a class="reference internal" href="fancy/index.html">Fancy</a></li>
|
||||
<li class="toctree-l1 current"><a class="current reference internal" href="#">DeepMind Control (DMC)</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#step-based-environments">Step-Based Environments</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#mp-environments">MP Environments</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="meta.html">Metaworld</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="open_ai.html">Gymnasium</a></li>
|
||||
</ul>
|
||||
<p class="caption" role="heading"><span class="caption-text">Examples</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../examples/general.html">General Usage Examples</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../examples/dmc.html">DeepMind Control Examples</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../examples/metaworld.html">Metaworld Examples</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../examples/open_ai.html">OpenAI Envs Examples</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../examples/movement_primitives.html">Movement Primitives Examples</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../examples/mp_params_tuning.html">MP Params Tuning Example</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../examples/pd_control_gain_tuning.html">PD Control Gain Tuning Example</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../examples/replanning_envs.html">Replanning Example</a></li>
|
||||
</ul>
|
||||
<p class="caption" role="heading"><span class="caption-text">API</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../api.html">API</a></li>
|
||||
</ul>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
</nav>
|
||||
|
||||
<section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
|
||||
<i data-toggle="wy-nav-top" class="fa fa-bars"></i>
|
||||
<a href="../index.html">Fancy Gym</a>
|
||||
</nav>
|
||||
|
||||
<div class="wy-nav-content">
|
||||
<div class="rst-content">
|
||||
<div role="navigation" aria-label="Page navigation">
|
||||
<ul class="wy-breadcrumbs">
|
||||
<li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
|
||||
<li class="breadcrumb-item active">DeepMind Control (DMC)</li>
|
||||
<li class="wy-breadcrumbs-aside">
|
||||
<a href="https://github.com/ALRhub/fancy_gym/blob/release/docs/source/envs/dmc.md" class="fa fa-github"> Edit on GitHub</a>
|
||||
</li>
|
||||
</ul>
|
||||
<hr/>
|
||||
</div>
|
||||
<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
|
||||
<div itemprop="articleBody">
|
||||
|
||||
<section id="deepmind-control-dmc">
|
||||
<h1>DeepMind Control (DMC)<a class="headerlink" href="#deepmind-control-dmc" title="Permalink to this heading"></a></h1>
|
||||
<!-- TODO: Add Vid -->
|
||||
<p>These are the Environment Wrappers for selected
|
||||
<a class="reference external" href="https://github.com/google-deepmind/dm_control">DeepMind Control</a>
|
||||
environments in order to use our Motion Primitive gym interface with them.</p>
|
||||
<section id="step-based-environments">
|
||||
<h2>Step-Based Environments<a class="headerlink" href="#step-based-environments" title="Permalink to this heading"></a></h2>
|
||||
<p>When installing fancy_gym with the optional dmc extra (e.g. <code class="docutils literal notranslate"><span class="pre">pip</span> <span class="pre">install</span> <span class="pre">fancy_gym[dmc]</span></code>), all regular dmc tasks are avaible via <a class="reference external" href="https://github.com/Farama-Foundation/Shimmy">Shimmy</a>.</p>
|
||||
<table class="docutils align-default">
|
||||
<thead>
|
||||
<tr class="row-odd"><th class="head"><p>Name</p></th>
|
||||
<th class="head"><p>Description</p></th>
|
||||
<th class="head"><p>Action Dim</p></th>
|
||||
<th class="head"><p>Observation Dim</p></th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/acrobot-swingup-v0</span></code></p></td>
|
||||
<td><p>Underactuated double pendulum (Acrobot) with torque applied to the second joint to swing up and balance.</p></td>
|
||||
<td><p>1</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/acrobot-swingup_sparse-v0</span></code></p></td>
|
||||
<td><p>Similar to <code class="docutils literal notranslate"><span class="pre">acrobot-swingup-v0</span></code>, but with sparse rewards for achieving the swingup task.</p></td>
|
||||
<td><p>1</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/ball_in_cup-catch-v0</span></code></p></td>
|
||||
<td><p>Planar ball-in-cup task where a receptacle must swing to catch a ball. Sparse reward for catching.</p></td>
|
||||
<td><p>2</p></td>
|
||||
<td><p>8</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/cartpole-balance-v0</span></code></p></td>
|
||||
<td><p>Cart-pole task where the goal is to balance an unactuated pole by moving a cart, starting near upright.</p></td>
|
||||
<td><p>1</p></td>
|
||||
<td><p>5</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/cartpole-balance_sparse-v0</span></code></p></td>
|
||||
<td><p>Similar to <code class="docutils literal notranslate"><span class="pre">cartpole-balance-v0</span></code>, but with sparse rewards.</p></td>
|
||||
<td><p>1</p></td>
|
||||
<td><p>5</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/cartpole-swingup-v0</span></code></p></td>
|
||||
<td><p>Cart-pole task with the pole starting downward, requiring swinging up and balancing.</p></td>
|
||||
<td><p>1</p></td>
|
||||
<td><p>5</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/cartpole-swingup_sparse-v0</span></code></p></td>
|
||||
<td><p>Similar to <code class="docutils literal notranslate"><span class="pre">cartpole-swingup-v0</span></code>, but with sparse rewards for the swingup task.</p></td>
|
||||
<td><p>1</p></td>
|
||||
<td><p>5</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/cartpole-two_poles-v0</span></code></p></td>
|
||||
<td><p>Extension of the Cart-pole domain with two serially connected poles, increasing the balancing challenge.</p></td>
|
||||
<td><p>1</p></td>
|
||||
<td><p>8</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/cartpole-three_poles-v0</span></code></p></td>
|
||||
<td><p>Extension of the Cart-pole domain with three serially connected poles, further increasing the challenge.</p></td>
|
||||
<td><p>1</p></td>
|
||||
<td><p>11</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/cheetah-run-v0</span></code></p></td>
|
||||
<td><p>Planar bipedal cheetah robot tasked with running. The reward is proportional to forward velocity up to a maximum speed.</p></td>
|
||||
<td><p>6</p></td>
|
||||
<td><p>17</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/dog-stand-v0</span></code></p></td>
|
||||
<td><p>Dog robot task focusing on achieving a standing posture.</p></td>
|
||||
<td><p>38</p></td>
|
||||
<td><p>223</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/dog-walk-v0</span></code></p></td>
|
||||
<td><p>Dog robot tasked with walking, requiring coordination of movements.</p></td>
|
||||
<td><p>38</p></td>
|
||||
<td><p>223</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/dog-trot-v0</span></code></p></td>
|
||||
<td><p>Dog robot performing a trotting gait.</p></td>
|
||||
<td><p>38</p></td>
|
||||
<td><p>223</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/dog-run-v0</span></code></p></td>
|
||||
<td><p>Dog robot tasked with running, combining speed with stability.</p></td>
|
||||
<td><p>38</p></td>
|
||||
<td><p>223</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/dog-fetch-v0</span></code></p></td>
|
||||
<td><p>Dog robot playing fetch, involving locomotion and object interaction.</p></td>
|
||||
<td><p>38</p></td>
|
||||
<td><p>232</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/finger-spin-v0</span></code></p></td>
|
||||
<td><p>Finger robot required to rotate an unactuated body on a hinge.</p></td>
|
||||
<td><p>2</p></td>
|
||||
<td><p>9</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/finger-turn_easy-v0</span></code></p></td>
|
||||
<td><p>Finger robot task to align the tip of a free body with a target, easier version with a larger target.</p></td>
|
||||
<td><p>2</p></td>
|
||||
<td><p>12</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/finger-turn_hard-v0</span></code></p></td>
|
||||
<td><p>Similar to <code class="docutils literal notranslate"><span class="pre">finger-turn_easy-v0</span></code>, but with a smaller target for increased difficulty.</p></td>
|
||||
<td><p>2</p></td>
|
||||
<td><p>12</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/fish-upright-v0</span></code></p></td>
|
||||
<td><p>Fish robot task focused on righting itself in a fluid environment.</p></td>
|
||||
<td><p>5</p></td>
|
||||
<td><p>21</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/fish-swim-v0</span></code></p></td>
|
||||
<td><p>Fish robot swimming to a target, incorporating fluid dynamics.</p></td>
|
||||
<td><p>5</p></td>
|
||||
<td><p>24</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/hopper-stand-v0</span></code></p></td>
|
||||
<td><p>One-legged hopper robot tasked with achieving a minimal torso height.</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>15</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/hopper-hop-v0</span></code></p></td>
|
||||
<td><p>One-legged hopper robot required to hop, combining height and forward velocity.</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>15</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/humanoid-stand-v0</span></code></p></td>
|
||||
<td><p>Simplified humanoid robot maintaining a standing posture.</p></td>
|
||||
<td><p>21</p></td>
|
||||
<td><p>67</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/humanoid-walk-v0</span></code></p></td>
|
||||
<td><p>Simplified humanoid robot walking at a specified speed.</p></td>
|
||||
<td><p>21</p></td>
|
||||
<td><p>67</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/humanoid-run-v0</span></code></p></td>
|
||||
<td><p>Simplified humanoid robot running, aiming for a high horizontal speed.</p></td>
|
||||
<td><p>21</p></td>
|
||||
<td><p>67</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/humanoid-run_pure_state-v0</span></code></p></td>
|
||||
<td><p>Simplified humanoid robot running with a focus on pure state control.</p></td>
|
||||
<td><p>21</p></td>
|
||||
<td><p>55</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/humanoid_CMU-stand-v0</span></code></p></td>
|
||||
<td><p>Advanced humanoid robot (CMU model) maintaining a standing posture.</p></td>
|
||||
<td><p>56</p></td>
|
||||
<td><p>137</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/humanoid_CMU-walk-v0</span></code></p></td>
|
||||
<td><p>Advanced humanoid robot (CMU model) walking.</p></td>
|
||||
<td><p>56</p></td>
|
||||
<td><p>137</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/humanoid_CMU-run-v0</span></code></p></td>
|
||||
<td><p>Advanced humanoid robot (CMU model) running.</p></td>
|
||||
<td><p>56</p></td>
|
||||
<td><p>137</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/lqr-lqr_2_1-v0</span></code></p></td>
|
||||
<td><p>Linear quadratic regulator (LQR) task with 2 masses and 1 actuator, focusing on position and control optimization.</p></td>
|
||||
<td><p>1</p></td>
|
||||
<td><p>4</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/lqr-lqr_6_2-v0</span></code></p></td>
|
||||
<td><p>Linear quadratic regulator (LQR) task with 6 masses and 2 actuators, more complex control optimization challenge.</p></td>
|
||||
<td><p>2</p></td>
|
||||
<td><p>12</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/manipulator-bring_ball-v0</span></code></p></td>
|
||||
<td><p>Planar manipulator robot bringing a ball to a target location, with object initialization variations.</p></td>
|
||||
<td><p>5</p></td>
|
||||
<td><p>44</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/manipulator-bring_peg-v0</span></code></p></td>
|
||||
<td><p>Planar manipulator task of bringing a peg to a target peg.</p></td>
|
||||
<td><p>5</p></td>
|
||||
<td><p>44</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/manipulator-insert_ball-v0</span></code></p></td>
|
||||
<td><p>Planar manipulator task requiring inserting a ball into a basket.</p></td>
|
||||
<td><p>5</p></td>
|
||||
<td><p>44</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/manipulator-insert_peg-v0</span></code></p></td>
|
||||
<td><p>Planar manipulator challenge of inserting a peg into a slot.</p></td>
|
||||
<td><p>5</p></td>
|
||||
<td><p>44</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/pendulum-swingup-v0</span></code></p></td>
|
||||
<td><p>Classic inverted pendulum task with a torque-limited actuator, requiring multiple swings to swing up and balance.</p></td>
|
||||
<td><p>1</p></td>
|
||||
<td><p>3</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/point_mass-easy-v0</span></code></p></td>
|
||||
<td><p>Planar point mass in an easy task, with actuators corresponding to global x and y axes</p></td>
|
||||
<td><p>2</p></td>
|
||||
<td><p>4</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/point_mass-hard-v0</span></code></p></td>
|
||||
<td><p>Planar point mass in a hard task, with randomized control gains per episode, challenging memoryless agents.</p></td>
|
||||
<td><p>2</p></td>
|
||||
<td><p>4</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/quadruped-walk-v0</span></code></p></td>
|
||||
<td><p>Four-legged robot (Quadruped) tasked with walking.</p></td>
|
||||
<td><p>12</p></td>
|
||||
<td><p>78</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/quadruped-run-v0</span></code></p></td>
|
||||
<td><p>Quadruped robot required to run, balancing speed and stability.</p></td>
|
||||
<td><p>12</p></td>
|
||||
<td><p>78</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/quadruped-escape-v0</span></code></p></td>
|
||||
<td><p>Quadruped robot in an escape task, combining locomotion with environmental interaction.</p></td>
|
||||
<td><p>12</p></td>
|
||||
<td><p>101</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/quadruped-fetch-v0</span></code></p></td>
|
||||
<td><p>Quadruped robot playing fetch, involving complex movements and object interaction.</p></td>
|
||||
<td><p>12</p></td>
|
||||
<td><p>90</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/reacher-easy-v0</span></code></p></td>
|
||||
<td><p>Two-link planar reacher with a randomized target, easier version with a larger target sphere.</p></td>
|
||||
<td><p>2</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/reacher-hard-v0</span></code></p></td>
|
||||
<td><p>Similar to <code class="docutils literal notranslate"><span class="pre">reacher-easy-v0</span></code>, but with a smaller target sphere for increased difficulty.</p></td>
|
||||
<td><p>2</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/stacker-stack_2-v0</span></code></p></td>
|
||||
<td><p>Stacker task requiring stacking of 2 boxes, with rewards for correct placement and gripper positioning.</p></td>
|
||||
<td><p>5</p></td>
|
||||
<td><p>49</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/stacker-stack_4-v0</span></code></p></td>
|
||||
<td><p>More complex stacker task with 4 boxes, increasing the stacking challenge.</p></td>
|
||||
<td><p>5</p></td>
|
||||
<td><p>63</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/swimmer-swimmer6-v0</span></code></p></td>
|
||||
<td><p>Six-link planar swimmer in fluid dynamics, rewarded for positioning the nose inside a target.</p></td>
|
||||
<td><p>5</p></td>
|
||||
<td><p>25</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/swimmer-swimmer15-v0</span></code></p></td>
|
||||
<td><p>Fifteen-link planar swimmer, a more complex version of the swimmer task with extended dynamics.</p></td>
|
||||
<td><p>14</p></td>
|
||||
<td><p>61</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/walker-stand-v0</span></code></p></td>
|
||||
<td><p>Planar walker robot tasked with maintaining an upright torso and minimal height.</p></td>
|
||||
<td><p>6</p></td>
|
||||
<td><p>24</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/walker-walk-v0</span></code></p></td>
|
||||
<td><p>Planar walker robot walking task, focusing on forward velocity and stability.</p></td>
|
||||
<td><p>6</p></td>
|
||||
<td><p>24</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control/walker-run-v0</span></code></p></td>
|
||||
<td><p>Planar walker robot running task, aiming for high speed and balance.</p></td>
|
||||
<td><p>6</p></td>
|
||||
<td><p>24</p></td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
</section>
|
||||
<section id="mp-environments">
|
||||
<h2>MP Environments<a class="headerlink" href="#mp-environments" title="Permalink to this heading"></a></h2>
|
||||
<table class="docutils align-default">
|
||||
<thead>
|
||||
<tr class="row-odd"><th class="head"><p>Name</p></th>
|
||||
<th class="head"><p>Description</p></th>
|
||||
<th class="head"><p>Trajectory Horizon</p></th>
|
||||
<th class="head"><p>Action Dimension</p></th>
|
||||
<th class="head"><p>Context Dimension</p></th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control_ProDMP/ball_in_cup-catch-v0</span></code></p></td>
|
||||
<td><p>A ProMP wrapped version of the “catch” task for the “ball_in_cup” environment.</p></td>
|
||||
<td><p>1000</p></td>
|
||||
<td><p>10</p></td>
|
||||
<td><p>2</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control_DMP/ball_in_cup-catch-v0</span></code></p></td>
|
||||
<td><p>A DMP wrapped version of the “catch” task for the “ball_in_cup” environment.</p></td>
|
||||
<td><p>1000</p></td>
|
||||
<td><p>10</p></td>
|
||||
<td><p>2</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control_ProDMP/reacher-easy-v0</span></code></p></td>
|
||||
<td><p>A ProMP wrapped version of the “easy” task for the “reacher” environment.</p></td>
|
||||
<td><p>1000</p></td>
|
||||
<td><p>10</p></td>
|
||||
<td><p>4</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control_DMP/reacher-easy-v0</span></code></p></td>
|
||||
<td><p>A DMP wrapped version of the “easy” task for the “reacher” environment.</p></td>
|
||||
<td><p>1000</p></td>
|
||||
<td><p>10</p></td>
|
||||
<td><p>4</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control_ProDMP/reacher-hard-v0</span></code></p></td>
|
||||
<td><p>A ProMP wrapped version of the “hard” task for the “reacher” environment.</p></td>
|
||||
<td><p>1000</p></td>
|
||||
<td><p>10</p></td>
|
||||
<td><p>4</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">dm_control_DMP/reacher-hard-v0</span></code></p></td>
|
||||
<td><p>A DMP wrapped version of the “hard” task for the “reacher” environment.</p></td>
|
||||
<td><p>1000</p></td>
|
||||
<td><p>10</p></td>
|
||||
<td><p>4</p></td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
</section>
|
||||
</section>
|
||||
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
|
||||
<a href="fancy/classic_control.html" class="btn btn-neutral float-left" title="Classic Control" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
|
||||
<a href="meta.html" class="btn btn-neutral float-right" title="Metaworld" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
|
||||
</div>
|
||||
|
||||
<hr/>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2020-2024, Fabian Otto, Onur Celik, Dominik Roth, Hongyi Zhou.</p>
|
||||
</div>
|
||||
|
||||
Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
|
||||
<a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
|
||||
provided by <a href="https://readthedocs.org">Read the Docs</a>.
|
||||
|
||||
|
||||
</footer>
|
||||
</div>
|
||||
</div>
|
||||
</section>
|
||||
</div>
|
||||
<script>
|
||||
jQuery(function () {
|
||||
SphinxRtdTheme.Navigation.enable(true);
|
||||
});
|
||||
</script>
|
||||
|
||||
</body>
|
||||
</html>
|
||||
+164
@@ -0,0 +1,164 @@
|
||||
<!DOCTYPE html>
|
||||
<html class="writer-html5" lang="en" >
|
||||
<head>
|
||||
<meta charset="utf-8" /><meta name="generator" content="Docutils 0.19: https://docutils.sourceforge.io/" />
|
||||
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
|
||||
<title>AirHockey — Fancy Gym 0.2 documentation</title>
|
||||
<link rel="stylesheet" href="../../_static/pygments.css" type="text/css" />
|
||||
<link rel="stylesheet" href="../../_static/css/theme.css" type="text/css" />
|
||||
<link rel="stylesheet" href="../../_static/style.css" type="text/css" />
|
||||
<link rel="shortcut icon" href="../../_static/icon.svg"/>
|
||||
<!--[if lt IE 9]>
|
||||
<script src="../../_static/js/html5shiv.min.js"></script>
|
||||
<![endif]-->
|
||||
|
||||
<script data-url_root="../../" id="documentation_options" src="../../_static/documentation_options.js"></script>
|
||||
<script src="../../_static/jquery.js"></script>
|
||||
<script src="../../_static/underscore.js"></script>
|
||||
<script src="../../_static/_sphinx_javascript_frameworks_compat.js"></script>
|
||||
<script src="../../_static/doctools.js"></script>
|
||||
<script src="../../_static/sphinx_highlight.js"></script>
|
||||
<script src="../../_static/js/theme.js"></script>
|
||||
<link rel="index" title="Index" href="../../genindex.html" />
|
||||
<link rel="search" title="Search" href="../../search.html" />
|
||||
<link rel="next" title="Classic Control" href="classic_control.html" />
|
||||
<link rel="prev" title="Mujoco" href="mujoco.html" />
|
||||
|
||||
|
||||
</head>
|
||||
|
||||
<body class="wy-body-for-nav">
|
||||
<div class="wy-grid-for-nav">
|
||||
<nav data-toggle="wy-nav-shift" class="wy-nav-side">
|
||||
<div class="wy-side-scroll">
|
||||
<div class="wy-side-nav-search" >
|
||||
|
||||
|
||||
|
||||
<a href="../../index.html" class="icon icon-home">
|
||||
Fancy Gym
|
||||
<img src="../../_static/icon.svg" class="logo" alt="Logo"/>
|
||||
</a>
|
||||
<div class="version">
|
||||
0.2
|
||||
</div>
|
||||
<div role="search">
|
||||
<form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
|
||||
<input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
|
||||
<input type="hidden" name="check_keywords" value="yes" />
|
||||
<input type="hidden" name="area" value="default" />
|
||||
</form>
|
||||
</div>
|
||||
</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
|
||||
<p class="caption" role="heading"><span class="caption-text">User Guide</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../guide/installation.html">Installation</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../guide/episodic_rl.html">What is Episodic RL?</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../guide/basic_usage.html">Basic Usage</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../guide/upgrading_envs.html">Creating new MP Environments</a></li>
|
||||
</ul>
|
||||
<p class="caption" role="heading"><span class="caption-text">Environments</span></p>
|
||||
<ul class="current">
|
||||
<li class="toctree-l1 current"><a class="reference internal" href="index.html">Fancy</a><ul class="current">
|
||||
<li class="toctree-l2"><a class="reference internal" href="mujoco.html">Mujoco</a></li>
|
||||
<li class="toctree-l2 current"><a class="current reference internal" href="#">AirHockey</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="classic_control.html">Classic Control</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../dmc.html">DeepMind Control (DMC)</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../meta.html">Metaworld</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../open_ai.html">Gymnasium</a></li>
|
||||
</ul>
|
||||
<p class="caption" role="heading"><span class="caption-text">Examples</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../examples/general.html">General Usage Examples</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../examples/dmc.html">DeepMind Control Examples</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../examples/metaworld.html">Metaworld Examples</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../examples/open_ai.html">OpenAI Envs Examples</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../examples/movement_primitives.html">Movement Primitives Examples</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../examples/mp_params_tuning.html">MP Params Tuning Example</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../examples/pd_control_gain_tuning.html">PD Control Gain Tuning Example</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../examples/replanning_envs.html">Replanning Example</a></li>
|
||||
</ul>
|
||||
<p class="caption" role="heading"><span class="caption-text">API</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../api.html">API</a></li>
|
||||
</ul>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
</nav>
|
||||
|
||||
<section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
|
||||
<i data-toggle="wy-nav-top" class="fa fa-bars"></i>
|
||||
<a href="../../index.html">Fancy Gym</a>
|
||||
</nav>
|
||||
|
||||
<div class="wy-nav-content">
|
||||
<div class="rst-content">
|
||||
<div role="navigation" aria-label="Page navigation">
|
||||
<ul class="wy-breadcrumbs">
|
||||
<li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
|
||||
<li class="breadcrumb-item"><a href="index.html">Fancy</a></li>
|
||||
<li class="breadcrumb-item active">AirHockey</li>
|
||||
<li class="wy-breadcrumbs-aside">
|
||||
<a href="https://github.com/ALRhub/fancy_gym/blob/release/docs/source/envs/fancy/airhockey.rst" class="fa fa-github"> Edit on GitHub</a>
|
||||
</li>
|
||||
</ul>
|
||||
<hr/>
|
||||
</div>
|
||||
<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
|
||||
<div itemprop="articleBody">
|
||||
|
||||
<section id="airhockey">
|
||||
<h1>AirHockey<a class="headerlink" href="#airhockey" title="Permalink to this heading"></a></h1>
|
||||
<p>Fancy Gym provides access to a range of environments for the Robot Air Hockey Challenge, facilitating research in robot learning. The challenge aims to close the gap between simulated learning and real-world application by focusing on various aspects of robotic operation, such as dealing with disturbances, observation noise, safety, and actuator limitations.</p>
|
||||
<p>The environments available through Fancy Gym allow for the development of agents capable of performing tasks with different levels of complexity. These tasks include hitting and defending in air hockey with both three degrees of freedom (3 DoF) and seven degrees of freedom (7 DoF) configurations. The 7 DoF tasks are based on the KUKA iiwa14 robot model, which is used in the simulations to represent a higher level of control complexity akin to real-world settings.</p>
|
||||
<p>Participants in the challenge are required to develop strategies that enable their robots to react and adapt within these dynamic environments. The final phase of the challenge involves a tournament where the developed agents will be tested in a comprehensive game scenario, both in simulation and, for the top teams, on actual robotic systems.</p>
|
||||
<p>For detailed information on the challenge, including rules, stages, and submission requirements, please visit the <a class="reference external" href="https://air-hockey-challenge.robot-learning.net/">official Robot Air Hockey Challenge website</a>.</p>
|
||||
<dl class="simple">
|
||||
<dt>The available environments are as follows:</dt><dd><ul class="simple">
|
||||
<li><p>fancy/AirHockey-7dof-hit-v0</p></li>
|
||||
<li><p>fancy/AirHockey-7dof-defend-v0</p></li>
|
||||
<li><p>fancy/AirHockey-3dof-hit-v0</p></li>
|
||||
<li><p>fancy/AirHockey-3dof-defend-v0</p></li>
|
||||
<li><p>fancy/AirHockey-7dof-hit-airhockit2023-v0</p></li>
|
||||
<li><p>fancy/AirHockey-7dof-defend-airhockit2023-v0</p></li>
|
||||
</ul>
|
||||
</dd>
|
||||
</dl>
|
||||
</section>
|
||||
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
|
||||
<a href="mujoco.html" class="btn btn-neutral float-left" title="Mujoco" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
|
||||
<a href="classic_control.html" class="btn btn-neutral float-right" title="Classic Control" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
|
||||
</div>
|
||||
|
||||
<hr/>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2020-2024, Fabian Otto, Onur Celik, Dominik Roth, Hongyi Zhou.</p>
|
||||
</div>
|
||||
|
||||
Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
|
||||
<a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
|
||||
provided by <a href="https://readthedocs.org">Read the Docs</a>.
|
||||
|
||||
|
||||
</footer>
|
||||
</div>
|
||||
</div>
|
||||
</section>
|
||||
</div>
|
||||
<script>
|
||||
jQuery(function () {
|
||||
SphinxRtdTheme.Navigation.enable(true);
|
||||
});
|
||||
</script>
|
||||
|
||||
</body>
|
||||
</html>
|
||||
+226
@@ -0,0 +1,226 @@
|
||||
<!DOCTYPE html>
|
||||
<html class="writer-html5" lang="en" >
|
||||
<head>
|
||||
<meta charset="utf-8" /><meta name="generator" content="Docutils 0.19: https://docutils.sourceforge.io/" />
|
||||
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
|
||||
<title>Classic Control — Fancy Gym 0.2 documentation</title>
|
||||
<link rel="stylesheet" href="../../_static/pygments.css" type="text/css" />
|
||||
<link rel="stylesheet" href="../../_static/css/theme.css" type="text/css" />
|
||||
<link rel="stylesheet" href="../../_static/style.css" type="text/css" />
|
||||
<link rel="shortcut icon" href="../../_static/icon.svg"/>
|
||||
<!--[if lt IE 9]>
|
||||
<script src="../../_static/js/html5shiv.min.js"></script>
|
||||
<![endif]-->
|
||||
|
||||
<script data-url_root="../../" id="documentation_options" src="../../_static/documentation_options.js"></script>
|
||||
<script src="../../_static/jquery.js"></script>
|
||||
<script src="../../_static/underscore.js"></script>
|
||||
<script src="../../_static/_sphinx_javascript_frameworks_compat.js"></script>
|
||||
<script src="../../_static/doctools.js"></script>
|
||||
<script src="../../_static/sphinx_highlight.js"></script>
|
||||
<script src="../../_static/js/theme.js"></script>
|
||||
<link rel="index" title="Index" href="../../genindex.html" />
|
||||
<link rel="search" title="Search" href="../../search.html" />
|
||||
<link rel="next" title="DeepMind Control (DMC)" href="../dmc.html" />
|
||||
<link rel="prev" title="AirHockey" href="airhockey.html" />
|
||||
|
||||
|
||||
</head>
|
||||
|
||||
<body class="wy-body-for-nav">
|
||||
<div class="wy-grid-for-nav">
|
||||
<nav data-toggle="wy-nav-shift" class="wy-nav-side">
|
||||
<div class="wy-side-scroll">
|
||||
<div class="wy-side-nav-search" >
|
||||
|
||||
|
||||
|
||||
<a href="../../index.html" class="icon icon-home">
|
||||
Fancy Gym
|
||||
<img src="../../_static/icon.svg" class="logo" alt="Logo"/>
|
||||
</a>
|
||||
<div class="version">
|
||||
0.2
|
||||
</div>
|
||||
<div role="search">
|
||||
<form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
|
||||
<input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
|
||||
<input type="hidden" name="check_keywords" value="yes" />
|
||||
<input type="hidden" name="area" value="default" />
|
||||
</form>
|
||||
</div>
|
||||
</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
|
||||
<p class="caption" role="heading"><span class="caption-text">User Guide</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../guide/installation.html">Installation</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../guide/episodic_rl.html">What is Episodic RL?</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../guide/basic_usage.html">Basic Usage</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../guide/upgrading_envs.html">Creating new MP Environments</a></li>
|
||||
</ul>
|
||||
<p class="caption" role="heading"><span class="caption-text">Environments</span></p>
|
||||
<ul class="current">
|
||||
<li class="toctree-l1 current"><a class="reference internal" href="index.html">Fancy</a><ul class="current">
|
||||
<li class="toctree-l2"><a class="reference internal" href="mujoco.html">Mujoco</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="airhockey.html">AirHockey</a></li>
|
||||
<li class="toctree-l2 current"><a class="current reference internal" href="#">Classic Control</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#step-based-environments">Step-based Environments</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#mp-environments">MP Environments</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../dmc.html">DeepMind Control (DMC)</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../meta.html">Metaworld</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../open_ai.html">Gymnasium</a></li>
|
||||
</ul>
|
||||
<p class="caption" role="heading"><span class="caption-text">Examples</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../examples/general.html">General Usage Examples</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../examples/dmc.html">DeepMind Control Examples</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../examples/metaworld.html">Metaworld Examples</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../examples/open_ai.html">OpenAI Envs Examples</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../examples/movement_primitives.html">Movement Primitives Examples</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../examples/mp_params_tuning.html">MP Params Tuning Example</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../examples/pd_control_gain_tuning.html">PD Control Gain Tuning Example</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../examples/replanning_envs.html">Replanning Example</a></li>
|
||||
</ul>
|
||||
<p class="caption" role="heading"><span class="caption-text">API</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../api.html">API</a></li>
|
||||
</ul>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
</nav>
|
||||
|
||||
<section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
|
||||
<i data-toggle="wy-nav-top" class="fa fa-bars"></i>
|
||||
<a href="../../index.html">Fancy Gym</a>
|
||||
</nav>
|
||||
|
||||
<div class="wy-nav-content">
|
||||
<div class="rst-content">
|
||||
<div role="navigation" aria-label="Page navigation">
|
||||
<ul class="wy-breadcrumbs">
|
||||
<li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
|
||||
<li class="breadcrumb-item"><a href="index.html">Fancy</a></li>
|
||||
<li class="breadcrumb-item active">Classic Control</li>
|
||||
<li class="wy-breadcrumbs-aside">
|
||||
<a href="https://github.com/ALRhub/fancy_gym/blob/release/docs/source/envs/fancy/classic_control.md" class="fa fa-github"> Edit on GitHub</a>
|
||||
</li>
|
||||
</ul>
|
||||
<hr/>
|
||||
</div>
|
||||
<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
|
||||
<div itemprop="articleBody">
|
||||
|
||||
<section id="classic-control">
|
||||
<h1>Classic Control<a class="headerlink" href="#classic-control" title="Permalink to this heading"></a></h1>
|
||||
<p>Classic Control environments provide a foundational platform for exploring and experimenting with RL algorithms. These environments are designed to be simple, allowing researchers and practitioners to focus on the fundamental principles of control without the complexities of high-dimensional and physics-based simulations.</p>
|
||||
<section id="step-based-environments">
|
||||
<h2>Step-based Environments<a class="headerlink" href="#step-based-environments" title="Permalink to this heading"></a></h2>
|
||||
<table class="docutils align-default">
|
||||
<thead>
|
||||
<tr class="row-odd"><th class="head"><p>Name</p></th>
|
||||
<th class="head"><p>Description</p></th>
|
||||
<th class="head"><p>Horizon</p></th>
|
||||
<th class="head"><p>Action Dimension</p></th>
|
||||
<th class="head"><p>Observation Dimension</p></th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">fancy/SimpleReacher-v0</span></code></p></td>
|
||||
<td><p>Simple reaching task (2 links) without any physics simulation. Provides no reward until 150 time steps. This allows the agent to explore the space, but requires precise actions towards the end of the trajectory.</p></td>
|
||||
<td><p>200</p></td>
|
||||
<td><p>2</p></td>
|
||||
<td><p>9</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">fancy/LongSimpleReacher-v0</span></code></p></td>
|
||||
<td><p>Simple reaching task (5 links) without any physics simulation. Provides no reward until 150 time steps. This allows the agent to explore the space, but requires precise actions towards the end of the trajectory.</p></td>
|
||||
<td><p>200</p></td>
|
||||
<td><p>5</p></td>
|
||||
<td><p>18</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">fancy/ViaPointReacher-v0</span></code></p></td>
|
||||
<td><p>Simple reaching task leveraging a via point, which supports self collision detection. Provides a reward only at 100 and 199 for reaching the viapoint and goal point, respectively.</p></td>
|
||||
<td><p>200</p></td>
|
||||
<td><p>5</p></td>
|
||||
<td><p>18</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">fancy/HoleReacher-v0</span></code></p></td>
|
||||
<td><p>5 link reaching task where the end-effector needs to reach into a narrow hole without collding with itself or walls.</p></td>
|
||||
<td><p>200</p></td>
|
||||
<td><p>5</p></td>
|
||||
<td><p>18</p></td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
</section>
|
||||
<section id="mp-environments">
|
||||
<h2>MP Environments<a class="headerlink" href="#mp-environments" title="Permalink to this heading"></a></h2>
|
||||
<table class="docutils align-default">
|
||||
<thead>
|
||||
<tr class="row-odd"><th class="head"><p>Name</p></th>
|
||||
<th class="head"><p>Description</p></th>
|
||||
<th class="head"><p>Horizon</p></th>
|
||||
<th class="head"><p>Action Dimension</p></th>
|
||||
<th class="head"><p>Context Dimension</p></th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">fancy_DMP/ViaPointReacher-v0</span></code></p></td>
|
||||
<td><p>A DMP provides a trajectory for the <code class="docutils literal notranslate"><span class="pre">fancy/ViaPointReacher-v0</span></code> task.</p></td>
|
||||
<td><p>200</p></td>
|
||||
<td><p>25</p></td>
|
||||
<td><p></p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">fancy_DMP/HoleReacherFixedGoal-v0</span></code></p></td>
|
||||
<td><p>A DMP provides a trajectory for the <code class="docutils literal notranslate"><span class="pre">fancy/HoleReacher-v0</span></code> task with a fixed goal attractor.</p></td>
|
||||
<td><p>200</p></td>
|
||||
<td><p>25</p></td>
|
||||
<td><p></p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">fancy_DMP/HoleReacher-v0</span></code></p></td>
|
||||
<td><p>A DMP provides a trajectory for the <code class="docutils literal notranslate"><span class="pre">fancy/HoleReacher-v0</span></code> task. The goal attractor needs to be learned.</p></td>
|
||||
<td><p>200</p></td>
|
||||
<td><p>30</p></td>
|
||||
<td><p></p></td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
</section>
|
||||
</section>
|
||||
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
|
||||
<a href="airhockey.html" class="btn btn-neutral float-left" title="AirHockey" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
|
||||
<a href="../dmc.html" class="btn btn-neutral float-right" title="DeepMind Control (DMC)" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
|
||||
</div>
|
||||
|
||||
<hr/>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2020-2024, Fabian Otto, Onur Celik, Dominik Roth, Hongyi Zhou.</p>
|
||||
</div>
|
||||
|
||||
Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
|
||||
<a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
|
||||
provided by <a href="https://readthedocs.org">Read the Docs</a>.
|
||||
|
||||
|
||||
</footer>
|
||||
</div>
|
||||
</div>
|
||||
</section>
|
||||
</div>
|
||||
<script>
|
||||
jQuery(function () {
|
||||
SphinxRtdTheme.Navigation.enable(true);
|
||||
});
|
||||
</script>
|
||||
|
||||
</body>
|
||||
</html>
|
||||
+174
@@ -0,0 +1,174 @@
|
||||
<!DOCTYPE html>
|
||||
<html class="writer-html5" lang="en" >
|
||||
<head>
|
||||
<meta charset="utf-8" /><meta name="generator" content="Docutils 0.19: https://docutils.sourceforge.io/" />
|
||||
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
|
||||
<title>Fancy — Fancy Gym 0.2 documentation</title>
|
||||
<link rel="stylesheet" href="../../_static/pygments.css" type="text/css" />
|
||||
<link rel="stylesheet" href="../../_static/css/theme.css" type="text/css" />
|
||||
<link rel="stylesheet" href="../../_static/style.css" type="text/css" />
|
||||
<link rel="shortcut icon" href="../../_static/icon.svg"/>
|
||||
<!--[if lt IE 9]>
|
||||
<script src="../../_static/js/html5shiv.min.js"></script>
|
||||
<![endif]-->
|
||||
|
||||
<script data-url_root="../../" id="documentation_options" src="../../_static/documentation_options.js"></script>
|
||||
<script src="../../_static/jquery.js"></script>
|
||||
<script src="../../_static/underscore.js"></script>
|
||||
<script src="../../_static/_sphinx_javascript_frameworks_compat.js"></script>
|
||||
<script src="../../_static/doctools.js"></script>
|
||||
<script src="../../_static/sphinx_highlight.js"></script>
|
||||
<script src="../../_static/js/theme.js"></script>
|
||||
<link rel="index" title="Index" href="../../genindex.html" />
|
||||
<link rel="search" title="Search" href="../../search.html" />
|
||||
<link rel="next" title="Mujoco" href="mujoco.html" />
|
||||
<link rel="prev" title="Creating new MP Environments" href="../../guide/upgrading_envs.html" />
|
||||
|
||||
|
||||
</head>
|
||||
|
||||
<body class="wy-body-for-nav">
|
||||
<div class="wy-grid-for-nav">
|
||||
<nav data-toggle="wy-nav-shift" class="wy-nav-side">
|
||||
<div class="wy-side-scroll">
|
||||
<div class="wy-side-nav-search" >
|
||||
|
||||
|
||||
|
||||
<a href="../../index.html" class="icon icon-home">
|
||||
Fancy Gym
|
||||
<img src="../../_static/icon.svg" class="logo" alt="Logo"/>
|
||||
</a>
|
||||
<div class="version">
|
||||
0.2
|
||||
</div>
|
||||
<div role="search">
|
||||
<form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
|
||||
<input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
|
||||
<input type="hidden" name="check_keywords" value="yes" />
|
||||
<input type="hidden" name="area" value="default" />
|
||||
</form>
|
||||
</div>
|
||||
</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
|
||||
<p class="caption" role="heading"><span class="caption-text">User Guide</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../guide/installation.html">Installation</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../guide/episodic_rl.html">What is Episodic RL?</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../guide/basic_usage.html">Basic Usage</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../guide/upgrading_envs.html">Creating new MP Environments</a></li>
|
||||
</ul>
|
||||
<p class="caption" role="heading"><span class="caption-text">Environments</span></p>
|
||||
<ul class="current">
|
||||
<li class="toctree-l1 current"><a class="current reference internal" href="#">Fancy</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="mujoco.html">Mujoco</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="airhockey.html">AirHockey</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="classic_control.html">Classic Control</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../dmc.html">DeepMind Control (DMC)</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../meta.html">Metaworld</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../open_ai.html">Gymnasium</a></li>
|
||||
</ul>
|
||||
<p class="caption" role="heading"><span class="caption-text">Examples</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../examples/general.html">General Usage Examples</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../examples/dmc.html">DeepMind Control Examples</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../examples/metaworld.html">Metaworld Examples</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../examples/open_ai.html">OpenAI Envs Examples</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../examples/movement_primitives.html">Movement Primitives Examples</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../examples/mp_params_tuning.html">MP Params Tuning Example</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../examples/pd_control_gain_tuning.html">PD Control Gain Tuning Example</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../examples/replanning_envs.html">Replanning Example</a></li>
|
||||
</ul>
|
||||
<p class="caption" role="heading"><span class="caption-text">API</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../api.html">API</a></li>
|
||||
</ul>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
</nav>
|
||||
|
||||
<section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
|
||||
<i data-toggle="wy-nav-top" class="fa fa-bars"></i>
|
||||
<a href="../../index.html">Fancy Gym</a>
|
||||
</nav>
|
||||
|
||||
<div class="wy-nav-content">
|
||||
<div class="rst-content">
|
||||
<div role="navigation" aria-label="Page navigation">
|
||||
<ul class="wy-breadcrumbs">
|
||||
<li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
|
||||
<li class="breadcrumb-item active">Fancy</li>
|
||||
<li class="wy-breadcrumbs-aside">
|
||||
<a href="https://github.com/ALRhub/fancy_gym/blob/release/docs/source/envs/fancy/index.rst" class="fa fa-github"> Edit on GitHub</a>
|
||||
</li>
|
||||
</ul>
|
||||
<hr/>
|
||||
</div>
|
||||
<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
|
||||
<div itemprop="articleBody">
|
||||
|
||||
<section id="fancy">
|
||||
<h1>Fancy<a class="headerlink" href="#fancy" title="Permalink to this heading"></a></h1>
|
||||
<p>Fancy Gym adds a couple new environments. Some of these are adaptations of existing environments while others were designed and build by us from the ground up.</p>
|
||||
<div class='center'>
|
||||
<img src="../../_static/imgs/env_gifs/Box_Pushing.gif" style="margin: 5%; width: 45%;">
|
||||
<p>Box Pushing Task (<a href="./mujoco.html#box-pushing">fancy/BoxPushingDense-v0</a>)</p>
|
||||
</div>
|
||||
<br><div class="toctree-wrapper compound">
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="mujoco.html">Mujoco</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="mujoco.html#step-based-environments">Step-based Environments</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="mujoco.html#box-pushing">Box Pushing</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="mujoco.html#table-tennis">Table Tennis</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="mujoco.html#beer-pong">Beer Pong</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="mujoco.html#variations-of-existing-environments">Variations of existing environments</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="mujoco.html#mp-environments">MP Environments</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="airhockey.html">AirHockey</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="classic_control.html">Classic Control</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="classic_control.html#step-based-environments">Step-based Environments</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="classic_control.html#mp-environments">MP Environments</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
</section>
|
||||
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
|
||||
<a href="../../guide/upgrading_envs.html" class="btn btn-neutral float-left" title="Creating new MP Environments" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
|
||||
<a href="mujoco.html" class="btn btn-neutral float-right" title="Mujoco" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
|
||||
</div>
|
||||
|
||||
<hr/>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2020-2024, Fabian Otto, Onur Celik, Dominik Roth, Hongyi Zhou.</p>
|
||||
</div>
|
||||
|
||||
Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
|
||||
<a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
|
||||
provided by <a href="https://readthedocs.org">Read the Docs</a>.
|
||||
|
||||
|
||||
</footer>
|
||||
</div>
|
||||
</div>
|
||||
</section>
|
||||
</div>
|
||||
<script>
|
||||
jQuery(function () {
|
||||
SphinxRtdTheme.Navigation.enable(true);
|
||||
});
|
||||
</script>
|
||||
|
||||
</body>
|
||||
</html>
|
||||
+443
@@ -0,0 +1,443 @@
|
||||
<!DOCTYPE html>
|
||||
<html class="writer-html5" lang="en" >
|
||||
<head>
|
||||
<meta charset="utf-8" /><meta name="generator" content="Docutils 0.19: https://docutils.sourceforge.io/" />
|
||||
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
|
||||
<title>Mujoco — Fancy Gym 0.2 documentation</title>
|
||||
<link rel="stylesheet" href="../../_static/pygments.css" type="text/css" />
|
||||
<link rel="stylesheet" href="../../_static/css/theme.css" type="text/css" />
|
||||
<link rel="stylesheet" href="../../_static/style.css" type="text/css" />
|
||||
<link rel="shortcut icon" href="../../_static/icon.svg"/>
|
||||
<!--[if lt IE 9]>
|
||||
<script src="../../_static/js/html5shiv.min.js"></script>
|
||||
<![endif]-->
|
||||
|
||||
<script data-url_root="../../" id="documentation_options" src="../../_static/documentation_options.js"></script>
|
||||
<script src="../../_static/jquery.js"></script>
|
||||
<script src="../../_static/underscore.js"></script>
|
||||
<script src="../../_static/_sphinx_javascript_frameworks_compat.js"></script>
|
||||
<script src="../../_static/doctools.js"></script>
|
||||
<script src="../../_static/sphinx_highlight.js"></script>
|
||||
<script src="../../_static/js/theme.js"></script>
|
||||
<link rel="index" title="Index" href="../../genindex.html" />
|
||||
<link rel="search" title="Search" href="../../search.html" />
|
||||
<link rel="next" title="AirHockey" href="airhockey.html" />
|
||||
<link rel="prev" title="Fancy" href="index.html" />
|
||||
|
||||
|
||||
</head>
|
||||
|
||||
<body class="wy-body-for-nav">
|
||||
<div class="wy-grid-for-nav">
|
||||
<nav data-toggle="wy-nav-shift" class="wy-nav-side">
|
||||
<div class="wy-side-scroll">
|
||||
<div class="wy-side-nav-search" >
|
||||
|
||||
|
||||
|
||||
<a href="../../index.html" class="icon icon-home">
|
||||
Fancy Gym
|
||||
<img src="../../_static/icon.svg" class="logo" alt="Logo"/>
|
||||
</a>
|
||||
<div class="version">
|
||||
0.2
|
||||
</div>
|
||||
<div role="search">
|
||||
<form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
|
||||
<input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
|
||||
<input type="hidden" name="check_keywords" value="yes" />
|
||||
<input type="hidden" name="area" value="default" />
|
||||
</form>
|
||||
</div>
|
||||
</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
|
||||
<p class="caption" role="heading"><span class="caption-text">User Guide</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../guide/installation.html">Installation</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../guide/episodic_rl.html">What is Episodic RL?</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../guide/basic_usage.html">Basic Usage</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../guide/upgrading_envs.html">Creating new MP Environments</a></li>
|
||||
</ul>
|
||||
<p class="caption" role="heading"><span class="caption-text">Environments</span></p>
|
||||
<ul class="current">
|
||||
<li class="toctree-l1 current"><a class="reference internal" href="index.html">Fancy</a><ul class="current">
|
||||
<li class="toctree-l2 current"><a class="current reference internal" href="#">Mujoco</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#step-based-environments">Step-based Environments</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#box-pushing">Box Pushing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#table-tennis">Table Tennis</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#beer-pong">Beer Pong</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#variations-of-existing-environments">Variations of existing environments</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#mp-environments">MP Environments</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="airhockey.html">AirHockey</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="classic_control.html">Classic Control</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../dmc.html">DeepMind Control (DMC)</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../meta.html">Metaworld</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../open_ai.html">Gymnasium</a></li>
|
||||
</ul>
|
||||
<p class="caption" role="heading"><span class="caption-text">Examples</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../examples/general.html">General Usage Examples</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../examples/dmc.html">DeepMind Control Examples</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../examples/metaworld.html">Metaworld Examples</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../examples/open_ai.html">OpenAI Envs Examples</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../examples/movement_primitives.html">Movement Primitives Examples</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../examples/mp_params_tuning.html">MP Params Tuning Example</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../examples/pd_control_gain_tuning.html">PD Control Gain Tuning Example</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../examples/replanning_envs.html">Replanning Example</a></li>
|
||||
</ul>
|
||||
<p class="caption" role="heading"><span class="caption-text">API</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../api.html">API</a></li>
|
||||
</ul>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
</nav>
|
||||
|
||||
<section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
|
||||
<i data-toggle="wy-nav-top" class="fa fa-bars"></i>
|
||||
<a href="../../index.html">Fancy Gym</a>
|
||||
</nav>
|
||||
|
||||
<div class="wy-nav-content">
|
||||
<div class="rst-content">
|
||||
<div role="navigation" aria-label="Page navigation">
|
||||
<ul class="wy-breadcrumbs">
|
||||
<li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
|
||||
<li class="breadcrumb-item"><a href="index.html">Fancy</a></li>
|
||||
<li class="breadcrumb-item active">Mujoco</li>
|
||||
<li class="wy-breadcrumbs-aside">
|
||||
<a href="https://github.com/ALRhub/fancy_gym/blob/release/docs/source/envs/fancy/mujoco.md" class="fa fa-github"> Edit on GitHub</a>
|
||||
</li>
|
||||
</ul>
|
||||
<hr/>
|
||||
</div>
|
||||
<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
|
||||
<div itemprop="articleBody">
|
||||
|
||||
<section id="mujoco">
|
||||
<h1>Mujoco<a class="headerlink" href="#mujoco" title="Permalink to this heading"></a></h1>
|
||||
<section id="step-based-environments">
|
||||
<h2>Step-based Environments<a class="headerlink" href="#step-based-environments" title="Permalink to this heading"></a></h2>
|
||||
<section id="box-pushing">
|
||||
<h3>Box Pushing<a class="headerlink" href="#box-pushing" title="Permalink to this heading"></a></h3>
|
||||
<div class='center'>
|
||||
<img src="../../_static/imgs/env_gifs/Box_Pushing.gif" style="margin: 5%; width: 45%;">
|
||||
</div>
|
||||
<p>The box-pushing task presents an advanced environment for reinforcement learning (RL) systems, utilizing the versatile Franka Emika Panda robotic arm, which boasts seven degrees of freedom (DoFs). The objective of this task is to precisely manipulate a box to a specified goal location and orientation.</p>
|
||||
<p>This environment defines its context space with a goal position constrained within a certain range along the x and y axes and a goal orientation that encompasses the full 360-degree range on the z-axis. The robot’s mission is to achieve positional accuracy within 5 centimeters and an orientation accuracy within 0.5 radians of the specified goal.</p>
|
||||
<p>The observation space includes the sine and cosine values of the robotic joint angles, their velocities, and quaternion orientations for the end-effector and the box. The action space describes the applied torques for each joint.</p>
|
||||
<p>A composite reward function serves as the performance metric for the RL system. It accounts for the distance to the goal, the box’s orientation, maintaining a rod within the box, achieving the rod’s desired orientation, and includes penalties for joint position and velocity limit violations, as well as an action cost for energy expenditure.</p>
|
||||
<p>Variations of this environment are available, differing in reward structures and the optionality of randomizing the box’s initial position. These variations are purposefully designed to challenge RL algorithms, enhancing their generalization and adaptation capabilities. Temporally sparse environments only provide a reward at the last timestep. Spatially sparse environments only provide a reward, if the goal is almost reached, the box is close enought to the goal and somewhat correctly aligned.</p>
|
||||
<table class="docutils align-default">
|
||||
<thead>
|
||||
<tr class="row-odd"><th class="head"><p>Name</p></th>
|
||||
<th class="head"><p>Description</p></th>
|
||||
<th class="head"><p>Horizon</p></th>
|
||||
<th class="head"><p>Action Dimension</p></th>
|
||||
<th class="head"><p>Observation Dimension</p></th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">fancy/BoxPushingDense-v0</span></code></p></td>
|
||||
<td><p>Custom Box-pushing task with dense rewards</p></td>
|
||||
<td><p>100</p></td>
|
||||
<td><p>3</p></td>
|
||||
<td><p>13</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">fancy/BoxPushingTemporalSparse-v0</span></code></p></td>
|
||||
<td><p>Custom Box-pushing task with temporally sparse rewards</p></td>
|
||||
<td><p>100</p></td>
|
||||
<td><p>3</p></td>
|
||||
<td><p>13</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">fancy/BoxPushingTemporalSpatialSparse-v0</span></code></p></td>
|
||||
<td><p>Custom Box-pushing task with temporally and spatially sparse rewards</p></td>
|
||||
<td><p>100</p></td>
|
||||
<td><p>3</p></td>
|
||||
<td><p>13</p></td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
</section>
|
||||
<hr class="docutils" />
|
||||
<section id="table-tennis">
|
||||
<h3>Table Tennis<a class="headerlink" href="#table-tennis" title="Permalink to this heading"></a></h3>
|
||||
<div class='center'>
|
||||
<img src="../../_static/imgs/env_gifs/Table_Tennis.gif" style="margin: 5%; width: 45%;">
|
||||
</div>
|
||||
<p>The table tennis task offers a dynamic and interactive environment designed for the development and testing of reinforcement learning (RL) systems. Using a robotic arm equipped with seven degrees of freedom (DoFs), the challenge is to respond to incoming balls and return them accurately to a specified goal location on the opponent’s side of the table.</p>
|
||||
<p>The context space for this environment includes the initial ball position, with x-coordinates ranging from -1 to -0.2 meters and y-coordinates from -0.65 to 0.65 meters, and the goal position with x-coordinates between -1.2 to -0.2 meters and y-coordinates from -0.6 to 0.6 meters. The full observation space comprises the sine and cosine values of the joint angles, the joint velocities, and the ball’s velocity, providing comprehensive information for the RL system to base its decisions on.</p>
|
||||
<p>A task is considered successfully completed when the returned ball not only lands on the opponent’s side of the table but also within a tight margin of 20 centimeters from the goal location. The reward function is designed to reflect various conditions of play, including whether the ball was hit, if it landed on the table, and the proximity of the ball’s landing position to the goal location.</p>
|
||||
<p>Variations of the table tennis environment are available to cater to different research needs. These variations maintain the foundational challenge of precise ball return while providing additional complexity for RL algorithms to overcome.</p>
|
||||
<table class="docutils align-default">
|
||||
<thead>
|
||||
<tr class="row-odd"><th class="head"><p>Name</p></th>
|
||||
<th class="head"><p>Description</p></th>
|
||||
<th class="head"><p>Horizon</p></th>
|
||||
<th class="head"><p>Action Dimension</p></th>
|
||||
<th class="head"><p>Observation Dimension</p></th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">fancy/TableTennis2D-v0</span></code></p></td>
|
||||
<td><p>Table Tennis task with 2D context, based on a custom environment for table tennis</p></td>
|
||||
<td><p>350</p></td>
|
||||
<td><p>7</p></td>
|
||||
<td><p>19</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">fancy/TableTennis2DReplan-v0</span></code></p></td>
|
||||
<td><p>Table Tennis task with 2D context and replanning, based on a custom environment for table tennis</p></td>
|
||||
<td><p>350</p></td>
|
||||
<td><p>7</p></td>
|
||||
<td><p>19</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">fancy/TableTennis4D-v0</span></code></p></td>
|
||||
<td><p>Table Tennis task with 4D context, based on a custom environment for table tennis</p></td>
|
||||
<td><p>350</p></td>
|
||||
<td><p>7</p></td>
|
||||
<td><p>22</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">fancy/TableTennis4DReplan-v0</span></code></p></td>
|
||||
<td><p>Table Tennis task with 4D context and replanning, based on a custom environment for table tennis</p></td>
|
||||
<td><p>350</p></td>
|
||||
<td><p>7</p></td>
|
||||
<td><p>22</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">fancy/TableTennisWind-v0</span></code></p></td>
|
||||
<td><p>Table Tennis task with wind effects, based on a custom environment for table tennis</p></td>
|
||||
<td><p>350</p></td>
|
||||
<td><p>7</p></td>
|
||||
<td><p>19</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">fancy/TableTennisGoalSwitching-v0</span></code></p></td>
|
||||
<td><p>Table Tennis task with goal switching, based on a custom environment for table tennis</p></td>
|
||||
<td><p>350</p></td>
|
||||
<td><p>7</p></td>
|
||||
<td><p>19</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">fancy/TableTennisWindReplan-v0</span></code></p></td>
|
||||
<td><p>Table Tennis task with wind effects and replanning, based on a custom environment for table tennis</p></td>
|
||||
<td><p>350</p></td>
|
||||
<td><p>7</p></td>
|
||||
<td><p>19</p></td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
</section>
|
||||
<hr class="docutils" />
|
||||
<section id="beer-pong">
|
||||
<h3>Beer Pong<a class="headerlink" href="#beer-pong" title="Permalink to this heading"></a></h3>
|
||||
<div class='center'>
|
||||
<img src="../../_static/imgs/env_gifs/Beer_Pong.gif" style="margin: 5%; width: 45%;">
|
||||
</div>
|
||||
<!-- TODO: Vid is ugly and unsuccessful. Replace. -->
|
||||
<p>The Beer Pong task is based upon a robotic system with seven Degrees of Freedom (DoF), challenging the robot to throw a ball into a cup placed on a large table. The environment’s context is established by the cup’s location, defined within a range of x-coordinates from -1.42 to 1.42 meters and y-coordinates from -4.05 to -1.25 meters.</p>
|
||||
<p>The observation space includes the cosine and sine of the robot’s joint angles, the angular velocities, and distances of the ball relative to the top and bottom of the cup, along with the cup’s position and the current timestep. The action space for the robot is defined by the torques applied to each joint. For episode-based methods, the parameter space is expanded to 15 dimensions, which includes two weights for the basis functions per joint and the duration of the throw, namely the ball release time.</p>
|
||||
<p>Action penalties are implemented in the form of squared torque sums applied across all joints, penalizing excessive force and encouraging efficient motion. The reward function at each timestep t before the final timestep T penalizes the action penalty, while at t=T, a non-Markovian reward based on the ball’s position relative to the cup and the action penalty is considered.</p>
|
||||
<p>Conditions for the task are specified as follows:</p>
|
||||
<ul class="simple">
|
||||
<li><p>The ball contacts the ground before touching the table.</p></li>
|
||||
<li><p>The ball is not in the cup and has not made contact with the table.</p></li>
|
||||
<li><p>The ball is not in the cup but has made contact with the table.</p></li>
|
||||
<li><p>The ball successfully lands in the cup.</p></li>
|
||||
</ul>
|
||||
<p>An additional reward component at the final timestep T assesses the chosen ball release time to ensure it falls within a reasonable range. The overall return for an episode is the sum of the rewards at each timestep, the task-specific reward, and the release time reward.</p>
|
||||
<p>A successful throw in this task is determined by the ball landing in the cup at the episode’s conclusion, showcasing the robot’s ability to accurately predict and execute the complex motion required for this popular party game.</p>
|
||||
<table class="docutils align-default">
|
||||
<thead>
|
||||
<tr class="row-odd"><th class="head"><p>Name</p></th>
|
||||
<th class="head"><p>Description</p></th>
|
||||
<th class="head"><p>Horizon</p></th>
|
||||
<th class="head"><p>Action Dimension</p></th>
|
||||
<th class="head"><p>Observation Dimension</p></th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">fancy/BeerPong-v0</span></code></p></td>
|
||||
<td><p>Beer Pong task, based on a custom environment with multiple task variations</p></td>
|
||||
<td><p>300</p></td>
|
||||
<td><p>3</p></td>
|
||||
<td><p>29</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">fancy/BeerPongStepBased-v0</span></code></p></td>
|
||||
<td><p>Step-based rewards for the Beer Pong task, based on a custom environment with episodic rewards</p></td>
|
||||
<td><p>300</p></td>
|
||||
<td><p>3</p></td>
|
||||
<td><p>29</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">fancy/BeerPongFixedRelease-v0</span></code></p></td>
|
||||
<td><p>Beer Pong with fixed release, based on a custom environment with episodic rewards</p></td>
|
||||
<td><p>300</p></td>
|
||||
<td><p>3</p></td>
|
||||
<td><p>29</p></td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
</section>
|
||||
<hr class="docutils" />
|
||||
<section id="variations-of-existing-environments">
|
||||
<h3>Variations of existing environments<a class="headerlink" href="#variations-of-existing-environments" title="Permalink to this heading"></a></h3>
|
||||
<table class="docutils align-default">
|
||||
<thead>
|
||||
<tr class="row-odd"><th class="head"><p>Name</p></th>
|
||||
<th class="head"><p>Description</p></th>
|
||||
<th class="head"><p>Horizon</p></th>
|
||||
<th class="head"><p>Action Dimension</p></th>
|
||||
<th class="head"><p>Observation Dimension</p></th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">fancy/Reacher-v0</span></code></p></td>
|
||||
<td><p>Modified (5 links) gymnasiums’s mujoco <code class="docutils literal notranslate"><span class="pre">Reacher-v2</span></code> (2 links)</p></td>
|
||||
<td><p>200</p></td>
|
||||
<td><p>5</p></td>
|
||||
<td><p>21</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">fancy/ReacherSparse-v0</span></code></p></td>
|
||||
<td><p>Same as <code class="docutils literal notranslate"><span class="pre">fancy/Reacher-v0</span></code>, but the distance penalty is only provided in the last time step.</p></td>
|
||||
<td><p>200</p></td>
|
||||
<td><p>5</p></td>
|
||||
<td><p>21</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">fancy/LongReacher-v0</span></code></p></td>
|
||||
<td><p>Modified (7 links) gymnasiums’s mujoco <code class="docutils literal notranslate"><span class="pre">Reacher-v2</span></code> (2 links)</p></td>
|
||||
<td><p>200</p></td>
|
||||
<td><p>7</p></td>
|
||||
<td><p>27</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">fancy/LongReacherSparse-v0</span></code></p></td>
|
||||
<td><p>Same as <code class="docutils literal notranslate"><span class="pre">fancy/LongReacher-v0</span></code>, but the distance penalty is only provided in the last time step.</p></td>
|
||||
<td><p>200</p></td>
|
||||
<td><p>7</p></td>
|
||||
<td><p>27</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">fancy/Reacher5d-v0</span></code></p></td>
|
||||
<td><p>Reacher task with 5 links, based on Gymnasium’s <code class="docutils literal notranslate"><span class="pre">gym.envs.mujoco.ReacherEnv</span></code></p></td>
|
||||
<td><p>200</p></td>
|
||||
<td><p>5</p></td>
|
||||
<td><p>20</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">fancy/Reacher5dSparse-v0</span></code></p></td>
|
||||
<td><p>Sparse Reacher task with 5 links, based on Gymnasium’s <code class="docutils literal notranslate"><span class="pre">gym.envs.mujoco.ReacherEnv</span></code></p></td>
|
||||
<td><p>200</p></td>
|
||||
<td><p>5</p></td>
|
||||
<td><p>20</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">fancy/Reacher7d-v0</span></code></p></td>
|
||||
<td><p>Reacher task with 7 links, based on Gymnasium’s <code class="docutils literal notranslate"><span class="pre">gym.envs.mujoco.ReacherEnv</span></code></p></td>
|
||||
<td><p>200</p></td>
|
||||
<td><p>7</p></td>
|
||||
<td><p>22</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">fancy/Reacher7dSparse-v0</span></code></p></td>
|
||||
<td><p>Sparse Reacher task with 7 links, based on Gymnasium’s <code class="docutils literal notranslate"><span class="pre">gym.envs.mujoco.ReacherEnv</span></code></p></td>
|
||||
<td><p>200</p></td>
|
||||
<td><p>7</p></td>
|
||||
<td><p>22</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">fancy/HopperJumpSparse-v0</span></code></p></td>
|
||||
<td><p>Hopper Jump task with sparse rewards, based on Gymnasium’s <code class="docutils literal notranslate"><span class="pre">gym.envs.mujoco.Hopper</span></code></p></td>
|
||||
<td><p>250</p></td>
|
||||
<td><p>3</p></td>
|
||||
<td><p>15 / 16*</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">fancy/HopperJump-v0</span></code></p></td>
|
||||
<td><p>Hopper Jump task with continuous rewards, based on Gymnasium’s <code class="docutils literal notranslate"><span class="pre">gym.envs.mujoco.Hopper</span></code></p></td>
|
||||
<td><p>250</p></td>
|
||||
<td><p>3</p></td>
|
||||
<td><p>15 / 16*</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">fancy/AntJump-v0</span></code></p></td>
|
||||
<td><p>Ant Jump task, based on Gymnasium’s <code class="docutils literal notranslate"><span class="pre">gym.envs.mujoco.Ant</span></code></p></td>
|
||||
<td><p>200</p></td>
|
||||
<td><p>8</p></td>
|
||||
<td><p>119</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">fancy/HalfCheetahJump-v0</span></code></p></td>
|
||||
<td><p>HalfCheetah Jump task, based on Gymnasium’s <code class="docutils literal notranslate"><span class="pre">gym.envs.mujoco.HalfCheetah</span></code></p></td>
|
||||
<td><p>100</p></td>
|
||||
<td><p>6</p></td>
|
||||
<td><p>112</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">fancy/HopperJumpOnBox-v0</span></code></p></td>
|
||||
<td><p>Hopper Jump on Box task, based on Gymnasium’s <code class="docutils literal notranslate"><span class="pre">gym.envs.mujoco.Hopper</span></code></p></td>
|
||||
<td><p>250</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>16 / 100*</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">fancy/HopperThrow-v0</span></code></p></td>
|
||||
<td><p>Hopper Throw task, based on Gymnasium’s <code class="docutils literal notranslate"><span class="pre">gym.envs.mujoco.Hopper</span></code></p></td>
|
||||
<td><p>250</p></td>
|
||||
<td><p>3</p></td>
|
||||
<td><p>18 / 100*</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">fancy/HopperThrowInBasket-v0</span></code></p></td>
|
||||
<td><p>Hopper Throw in Basket task, based on Gymnasium’s <code class="docutils literal notranslate"><span class="pre">gym.envs.mujoco.Hopper</span></code></p></td>
|
||||
<td><p>250</p></td>
|
||||
<td><p>3</p></td>
|
||||
<td><p>18 / 100*</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">fancy/Walker2DJump-v0</span></code></p></td>
|
||||
<td><p>Walker 2D Jump task, based on Gymnasium’s <code class="docutils literal notranslate"><span class="pre">gym.envs.mujoco.Walker2d</span></code></p></td>
|
||||
<td><p>300</p></td>
|
||||
<td><p>6</p></td>
|
||||
<td><p>18 / 19*</p></td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
<p>*Observation dimensions depend on configuration.</p>
|
||||
<!--
|
||||
No longer used?
|
||||
| Name | Description | Horizon | Action Dimension | Observation Dimension |
|
||||
| --------------------------- | --------------------------------------------------------------------------------------------------- | ------- | ---------------- | --------------------- |
|
||||
| `fancy/BallInACupSimple-v0` | Ball-in-a-cup task where a robot needs to catch a ball attached to a cup at its end-effector. | 4000 | 3 | wip |
|
||||
| `fancy/BallInACup-v0` | Ball-in-a-cup task where a robot needs to catch a ball attached to a cup at its end-effector | 4000 | 7 | wip |
|
||||
| `fancy/BallInACupGoal-v0` | Similar to `fancy/BallInACupSimple-v0` but the ball needs to be caught at a specified goal position | 4000 | 7 | wip |
|
||||
-->
|
||||
</section>
|
||||
</section>
|
||||
<section id="mp-environments">
|
||||
<h2>MP Environments<a class="headerlink" href="#mp-environments" title="Permalink to this heading"></a></h2>
|
||||
<p>Many of these envs also exist as MP-variants. Refer to them using <code class="docutils literal notranslate"><span class="pre">fancy_DMP/<name></span></code> <code class="docutils literal notranslate"><span class="pre">fancy_ProMP/<name></span></code> or <code class="docutils literal notranslate"><span class="pre">fancy_ProDMP/<name></span></code>.</p>
|
||||
</section>
|
||||
</section>
|
||||
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
|
||||
<a href="index.html" class="btn btn-neutral float-left" title="Fancy" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
|
||||
<a href="airhockey.html" class="btn btn-neutral float-right" title="AirHockey" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
|
||||
</div>
|
||||
|
||||
<hr/>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2020-2024, Fabian Otto, Onur Celik, Dominik Roth, Hongyi Zhou.</p>
|
||||
</div>
|
||||
|
||||
Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
|
||||
<a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
|
||||
provided by <a href="https://readthedocs.org">Read the Docs</a>.
|
||||
|
||||
|
||||
</footer>
|
||||
</div>
|
||||
</div>
|
||||
</section>
|
||||
</div>
|
||||
<script>
|
||||
jQuery(function () {
|
||||
SphinxRtdTheme.Navigation.enable(true);
|
||||
});
|
||||
</script>
|
||||
|
||||
</body>
|
||||
</html>
|
||||
Vendored
+524
@@ -0,0 +1,524 @@
|
||||
<!DOCTYPE html>
|
||||
<html class="writer-html5" lang="en" >
|
||||
<head>
|
||||
<meta charset="utf-8" /><meta name="generator" content="Docutils 0.19: https://docutils.sourceforge.io/" />
|
||||
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
|
||||
<title>Metaworld — Fancy Gym 0.2 documentation</title>
|
||||
<link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
|
||||
<link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
|
||||
<link rel="stylesheet" href="../_static/style.css" type="text/css" />
|
||||
<link rel="shortcut icon" href="../_static/icon.svg"/>
|
||||
<!--[if lt IE 9]>
|
||||
<script src="../_static/js/html5shiv.min.js"></script>
|
||||
<![endif]-->
|
||||
|
||||
<script data-url_root="../" id="documentation_options" src="../_static/documentation_options.js"></script>
|
||||
<script src="../_static/jquery.js"></script>
|
||||
<script src="../_static/underscore.js"></script>
|
||||
<script src="../_static/_sphinx_javascript_frameworks_compat.js"></script>
|
||||
<script src="../_static/doctools.js"></script>
|
||||
<script src="../_static/sphinx_highlight.js"></script>
|
||||
<script src="../_static/js/theme.js"></script>
|
||||
<link rel="index" title="Index" href="../genindex.html" />
|
||||
<link rel="search" title="Search" href="../search.html" />
|
||||
<link rel="next" title="Gymnasium" href="open_ai.html" />
|
||||
<link rel="prev" title="DeepMind Control (DMC)" href="dmc.html" />
|
||||
|
||||
|
||||
</head>
|
||||
|
||||
<body class="wy-body-for-nav">
|
||||
<div class="wy-grid-for-nav">
|
||||
<nav data-toggle="wy-nav-shift" class="wy-nav-side">
|
||||
<div class="wy-side-scroll">
|
||||
<div class="wy-side-nav-search" >
|
||||
|
||||
|
||||
|
||||
<a href="../index.html" class="icon icon-home">
|
||||
Fancy Gym
|
||||
<img src="../_static/icon.svg" class="logo" alt="Logo"/>
|
||||
</a>
|
||||
<div class="version">
|
||||
0.2
|
||||
</div>
|
||||
<div role="search">
|
||||
<form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
|
||||
<input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
|
||||
<input type="hidden" name="check_keywords" value="yes" />
|
||||
<input type="hidden" name="area" value="default" />
|
||||
</form>
|
||||
</div>
|
||||
</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
|
||||
<p class="caption" role="heading"><span class="caption-text">User Guide</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../guide/installation.html">Installation</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../guide/episodic_rl.html">What is Episodic RL?</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../guide/basic_usage.html">Basic Usage</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../guide/upgrading_envs.html">Creating new MP Environments</a></li>
|
||||
</ul>
|
||||
<p class="caption" role="heading"><span class="caption-text">Environments</span></p>
|
||||
<ul class="current">
|
||||
<li class="toctree-l1"><a class="reference internal" href="fancy/index.html">Fancy</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="dmc.html">DeepMind Control (DMC)</a></li>
|
||||
<li class="toctree-l1 current"><a class="current reference internal" href="#">Metaworld</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#step-based-environments">Step-Based Environments</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#mp-environments">MP Environments</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="open_ai.html">Gymnasium</a></li>
|
||||
</ul>
|
||||
<p class="caption" role="heading"><span class="caption-text">Examples</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../examples/general.html">General Usage Examples</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../examples/dmc.html">DeepMind Control Examples</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../examples/metaworld.html">Metaworld Examples</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../examples/open_ai.html">OpenAI Envs Examples</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../examples/movement_primitives.html">Movement Primitives Examples</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../examples/mp_params_tuning.html">MP Params Tuning Example</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../examples/pd_control_gain_tuning.html">PD Control Gain Tuning Example</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../examples/replanning_envs.html">Replanning Example</a></li>
|
||||
</ul>
|
||||
<p class="caption" role="heading"><span class="caption-text">API</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../api.html">API</a></li>
|
||||
</ul>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
</nav>
|
||||
|
||||
<section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
|
||||
<i data-toggle="wy-nav-top" class="fa fa-bars"></i>
|
||||
<a href="../index.html">Fancy Gym</a>
|
||||
</nav>
|
||||
|
||||
<div class="wy-nav-content">
|
||||
<div class="rst-content">
|
||||
<div role="navigation" aria-label="Page navigation">
|
||||
<ul class="wy-breadcrumbs">
|
||||
<li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
|
||||
<li class="breadcrumb-item active">Metaworld</li>
|
||||
<li class="wy-breadcrumbs-aside">
|
||||
<a href="https://github.com/ALRhub/fancy_gym/blob/release/docs/source/envs/meta.md" class="fa fa-github"> Edit on GitHub</a>
|
||||
</li>
|
||||
</ul>
|
||||
<hr/>
|
||||
</div>
|
||||
<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
|
||||
<div itemprop="articleBody">
|
||||
|
||||
<section id="metaworld">
|
||||
<h1>Metaworld<a class="headerlink" href="#metaworld" title="Permalink to this heading"></a></h1>
|
||||
<div class='center'>
|
||||
<img src="../_static/imgs/env_gifs/Metaworld.gif" style="margin: 5%; width: 45%;">
|
||||
<p>Metaworld Dial Turn Task (metaworld/dial-turn-v2)</p>
|
||||
</div>
|
||||
<br>
|
||||
<p><a class="reference external" href="https://meta-world.github.io/">Metaworld</a> is an open-source simulated benchmark designed to advance meta-reinforcement learning and multi-task learning, comprising 50 diverse robotic manipulation tasks. The benchmark features a universal tabletop environment equipped with a simulated Sawyer arm and a variety of everyday objects. This shared environment is pivotal for reusing structured learning and efficiently acquiring related tasks.</p>
|
||||
<section id="step-based-environments">
|
||||
<h2>Step-Based Environments<a class="headerlink" href="#step-based-environments" title="Permalink to this heading"></a></h2>
|
||||
<p><code class="docutils literal notranslate"><span class="pre">fancy_gym</span></code> makes all metaworld ML1 tasks avaible via the standard gym interface.</p>
|
||||
<table class="docutils align-default">
|
||||
<thead>
|
||||
<tr class="row-odd"><th class="head"><p>Name</p></th>
|
||||
<th class="head"><p>Description</p></th>
|
||||
<th class="head"><p>Horizon</p></th>
|
||||
<th class="head"><p>Action Dimension</p></th>
|
||||
<th class="head"><p>Observation Dimension</p></th>
|
||||
<th class="head"><p>Context Dimension</p></th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/assembly-v2</span></code></p></td>
|
||||
<td><p>A task where the robot must assemble components.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/basketball-v2</span></code></p></td>
|
||||
<td><p>A task where the robot must play a game of basketball.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/bin-picking-v2</span></code></p></td>
|
||||
<td><p>A task involving the robot picking objects from a bin.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/box-close-v2</span></code></p></td>
|
||||
<td><p>A task requiring the robot to close a box.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/button-press-topdown-v2</span></code></p></td>
|
||||
<td><p>A task where the robot must press a button from a top-down perspective.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/button-press-topdown-wall-v2</span></code></p></td>
|
||||
<td><p>A task involving the robot pressing a button with a wall from a top-down perspective.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/button-press-v2</span></code></p></td>
|
||||
<td><p>A task where the robot must press a button.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/button-press-wall-v2</span></code></p></td>
|
||||
<td><p>A task involving the robot pressing a button with a wall.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/coffee-button-v2</span></code></p></td>
|
||||
<td><p>A task where the robot must press a button on a coffee machine.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/coffee-pull-v2</span></code></p></td>
|
||||
<td><p>A task involving the robot pulling a lever on a coffee machine.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/coffee-push-v2</span></code></p></td>
|
||||
<td><p>A task involving the robot pushing a component on a coffee machine.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/dial-turn-v2</span></code></p></td>
|
||||
<td><p>A task where the robot must turn a dial.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/disassemble-v2</span></code></p></td>
|
||||
<td><p>A task requiring the robot to disassemble an object.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/door-close-v2</span></code></p></td>
|
||||
<td><p>A task where the robot must close a door.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/door-lock-v2</span></code></p></td>
|
||||
<td><p>A task involving the robot locking a door.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/door-open-v2</span></code></p></td>
|
||||
<td><p>A task where the robot must open a door.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/door-unlock-v2</span></code></p></td>
|
||||
<td><p>A task involving the robot unlocking a door.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/hand-insert-v2</span></code></p></td>
|
||||
<td><p>A task requiring the robot to insert a hand into an object.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/drawer-close-v2</span></code></p></td>
|
||||
<td><p>A task where the robot must close a drawer.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/drawer-open-v2</span></code></p></td>
|
||||
<td><p>A task involving the robot opening a drawer.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/faucet-open-v2</span></code></p></td>
|
||||
<td><p>A task requiring the robot to open a faucet.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/faucet-close-v2</span></code></p></td>
|
||||
<td><p>A task where the robot must close a faucet.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/hammer-v2</span></code></p></td>
|
||||
<td><p>A task where the robot must use a hammer.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/handle-press-side-v2</span></code></p></td>
|
||||
<td><p>A task involving the robot pressing a handle from the side.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/handle-press-v2</span></code></p></td>
|
||||
<td><p>A task where the robot must press a handle.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/handle-pull-side-v2</span></code></p></td>
|
||||
<td><p>A task requiring the robot to pull a handle from the side.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/handle-pull-v2</span></code></p></td>
|
||||
<td><p>A task where the robot must pull a handle.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/lever-pull-v2</span></code></p></td>
|
||||
<td><p>A task involving the robot pulling a lever.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/peg-insert-side-v2</span></code></p></td>
|
||||
<td><p>A task requiring the robot to insert a peg from the side.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/pick-place-wall-v2</span></code></p></td>
|
||||
<td><p>A task involving the robot picking and placing an object with a wall.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/pick-out-of-hole-v2</span></code></p></td>
|
||||
<td><p>A task where the robot must pick an object out of a hole.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/reach-v2</span></code></p></td>
|
||||
<td><p>A task where the robot must reach an object.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/push-back-v2</span></code></p></td>
|
||||
<td><p>A task involving the robot pushing an object backward.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/push-v2</span></code></p></td>
|
||||
<td><p>A task where the robot must push an object.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/pick-place-v2</span></code></p></td>
|
||||
<td><p>A task involving the robot picking up and placing an object.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/plate-slide-v2</span></code></p></td>
|
||||
<td><p>A task requiring the robot to slide a plate.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/plate-slide-side-v2</span></code></p></td>
|
||||
<td><p>A task involving the robot sliding a plate from the side.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/plate-slide-back-v2</span></code></p></td>
|
||||
<td><p>A task where the robot must slide a plate backward.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/plate-slide-back-side-v2</span></code></p></td>
|
||||
<td><p>A task involving the robot sliding a plate backward from the side.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/peg-unplug-side-v2</span></code></p></td>
|
||||
<td><p>A task where the robot must unplug a peg from the side.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/soccer-v2</span></code></p></td>
|
||||
<td><p>A task where the robot must play soccer.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/stick-push-v2</span></code></p></td>
|
||||
<td><p>A task involving the robot pushing a stick.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/stick-pull-v2</span></code></p></td>
|
||||
<td><p>A task where the robot must pull a stick.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/push-wall-v2</span></code></p></td>
|
||||
<td><p>A task involving the robot pushing against a wall.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/reach-wall-v2</span></code></p></td>
|
||||
<td><p>A task where the robot must reach an object with a wall.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/shelf-place-v2</span></code></p></td>
|
||||
<td><p>A task involving the robot placing an object on a shelf.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/sweep-into-v2</span></code></p></td>
|
||||
<td><p>A task where the robot must sweep objects into a container.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/sweep-v2</span></code></p></td>
|
||||
<td><p>A task requiring the robot to sweep.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/window-open-v2</span></code></p></td>
|
||||
<td><p>A task where the robot must open a window.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">metaworld/window-close-v2</span></code></p></td>
|
||||
<td><p>A task involving the robot closing a window.</p></td>
|
||||
<td><p>150</p></td>
|
||||
<td><p>4</p></td>
|
||||
<td><p>39</p></td>
|
||||
<td><p>6</p></td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
</section>
|
||||
<section id="mp-environments">
|
||||
<h2>MP Environments<a class="headerlink" href="#mp-environments" title="Permalink to this heading"></a></h2>
|
||||
<p>All envs also exist in MP-variants. Refer to them using <code class="docutils literal notranslate"><span class="pre">metaworld_ProMP/<name-v2></span></code> or <code class="docutils literal notranslate"><span class="pre">metaworld_ProDMP/<name-v2></span></code> (DMP is currently not supported as of now).</p>
|
||||
</section>
|
||||
</section>
|
||||
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
|
||||
<a href="dmc.html" class="btn btn-neutral float-left" title="DeepMind Control (DMC)" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
|
||||
<a href="open_ai.html" class="btn btn-neutral float-right" title="Gymnasium" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
|
||||
</div>
|
||||
|
||||
<hr/>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2020-2024, Fabian Otto, Onur Celik, Dominik Roth, Hongyi Zhou.</p>
|
||||
</div>
|
||||
|
||||
Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
|
||||
<a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
|
||||
provided by <a href="https://readthedocs.org">Read the Docs</a>.
|
||||
|
||||
|
||||
</footer>
|
||||
</div>
|
||||
</div>
|
||||
</section>
|
||||
</div>
|
||||
<script>
|
||||
jQuery(function () {
|
||||
SphinxRtdTheme.Navigation.enable(true);
|
||||
});
|
||||
</script>
|
||||
|
||||
</body>
|
||||
</html>
|
||||
Vendored
+192
@@ -0,0 +1,192 @@
|
||||
<!DOCTYPE html>
|
||||
<html class="writer-html5" lang="en" >
|
||||
<head>
|
||||
<meta charset="utf-8" /><meta name="generator" content="Docutils 0.19: https://docutils.sourceforge.io/" />
|
||||
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
|
||||
<title>Gymnasium — Fancy Gym 0.2 documentation</title>
|
||||
<link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
|
||||
<link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
|
||||
<link rel="stylesheet" href="../_static/style.css" type="text/css" />
|
||||
<link rel="shortcut icon" href="../_static/icon.svg"/>
|
||||
<!--[if lt IE 9]>
|
||||
<script src="../_static/js/html5shiv.min.js"></script>
|
||||
<![endif]-->
|
||||
|
||||
<script data-url_root="../" id="documentation_options" src="../_static/documentation_options.js"></script>
|
||||
<script src="../_static/jquery.js"></script>
|
||||
<script src="../_static/underscore.js"></script>
|
||||
<script src="../_static/_sphinx_javascript_frameworks_compat.js"></script>
|
||||
<script src="../_static/doctools.js"></script>
|
||||
<script src="../_static/sphinx_highlight.js"></script>
|
||||
<script src="../_static/js/theme.js"></script>
|
||||
<link rel="index" title="Index" href="../genindex.html" />
|
||||
<link rel="search" title="Search" href="../search.html" />
|
||||
<link rel="next" title="General Usage Examples" href="../examples/general.html" />
|
||||
<link rel="prev" title="Metaworld" href="meta.html" />
|
||||
|
||||
|
||||
</head>
|
||||
|
||||
<body class="wy-body-for-nav">
|
||||
<div class="wy-grid-for-nav">
|
||||
<nav data-toggle="wy-nav-shift" class="wy-nav-side">
|
||||
<div class="wy-side-scroll">
|
||||
<div class="wy-side-nav-search" >
|
||||
|
||||
|
||||
|
||||
<a href="../index.html" class="icon icon-home">
|
||||
Fancy Gym
|
||||
<img src="../_static/icon.svg" class="logo" alt="Logo"/>
|
||||
</a>
|
||||
<div class="version">
|
||||
0.2
|
||||
</div>
|
||||
<div role="search">
|
||||
<form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
|
||||
<input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
|
||||
<input type="hidden" name="check_keywords" value="yes" />
|
||||
<input type="hidden" name="area" value="default" />
|
||||
</form>
|
||||
</div>
|
||||
</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
|
||||
<p class="caption" role="heading"><span class="caption-text">User Guide</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../guide/installation.html">Installation</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../guide/episodic_rl.html">What is Episodic RL?</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../guide/basic_usage.html">Basic Usage</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../guide/upgrading_envs.html">Creating new MP Environments</a></li>
|
||||
</ul>
|
||||
<p class="caption" role="heading"><span class="caption-text">Environments</span></p>
|
||||
<ul class="current">
|
||||
<li class="toctree-l1"><a class="reference internal" href="fancy/index.html">Fancy</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="dmc.html">DeepMind Control (DMC)</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="meta.html">Metaworld</a></li>
|
||||
<li class="toctree-l1 current"><a class="current reference internal" href="#">Gymnasium</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#step-based-environments">Step-Based Environments</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#mp-environments">MP Environments</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
<p class="caption" role="heading"><span class="caption-text">Examples</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../examples/general.html">General Usage Examples</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../examples/dmc.html">DeepMind Control Examples</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../examples/metaworld.html">Metaworld Examples</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../examples/open_ai.html">OpenAI Envs Examples</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../examples/movement_primitives.html">Movement Primitives Examples</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../examples/mp_params_tuning.html">MP Params Tuning Example</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../examples/pd_control_gain_tuning.html">PD Control Gain Tuning Example</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../examples/replanning_envs.html">Replanning Example</a></li>
|
||||
</ul>
|
||||
<p class="caption" role="heading"><span class="caption-text">API</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../api.html">API</a></li>
|
||||
</ul>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
</nav>
|
||||
|
||||
<section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
|
||||
<i data-toggle="wy-nav-top" class="fa fa-bars"></i>
|
||||
<a href="../index.html">Fancy Gym</a>
|
||||
</nav>
|
||||
|
||||
<div class="wy-nav-content">
|
||||
<div class="rst-content">
|
||||
<div role="navigation" aria-label="Page navigation">
|
||||
<ul class="wy-breadcrumbs">
|
||||
<li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
|
||||
<li class="breadcrumb-item active">Gymnasium</li>
|
||||
<li class="wy-breadcrumbs-aside">
|
||||
<a href="https://github.com/ALRhub/fancy_gym/blob/release/docs/source/envs/open_ai.md" class="fa fa-github"> Edit on GitHub</a>
|
||||
</li>
|
||||
</ul>
|
||||
<hr/>
|
||||
</div>
|
||||
<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
|
||||
<div itemprop="articleBody">
|
||||
|
||||
<section id="gymnasium">
|
||||
<h1>Gymnasium<a class="headerlink" href="#gymnasium" title="Permalink to this heading"></a></h1>
|
||||
<div class='center'>
|
||||
<img src="../_static/imgs/env_gifs/Lunar_Lander.gif" style="margin: 5%; width: 60%;">
|
||||
<p>Lunar Lander Task (LunarLander-v2)</p>
|
||||
</div>
|
||||
<br>
|
||||
<p>We provide MP versions for selected <a class="reference external" href="https://gymnasium.farama.org/">Farama Gymnasium</a> (previously OpenAI Gym) environments.</p>
|
||||
<section id="step-based-environments">
|
||||
<h2>Step-Based Environments<a class="headerlink" href="#step-based-environments" title="Permalink to this heading"></a></h2>
|
||||
<p>We refer to the <a class="reference external" href="https://gymnasium.farama.org/content/basic_usage/">Gymnasium docs</a> for an overview of step-based environments provided by them.</p>
|
||||
</section>
|
||||
<section id="mp-environments">
|
||||
<h2>MP Environments<a class="headerlink" href="#mp-environments" title="Permalink to this heading"></a></h2>
|
||||
<p>These environments are wrapped-versions of their Gymnasium counterparts.</p>
|
||||
<table class="docutils align-default">
|
||||
<thead>
|
||||
<tr class="row-odd"><th class="head"><p>Name</p></th>
|
||||
<th class="head"><p>Description</p></th>
|
||||
<th class="head"><p>Trajectory Horizon</p></th>
|
||||
<th class="head"><p>Action Dimension</p></th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">gym_ProMP/ContinuousMountainCar-v0</span></code></p></td>
|
||||
<td><p>A ProMP wrapped version of the ContinuousMountainCar-v0 environment.</p></td>
|
||||
<td><p>100</p></td>
|
||||
<td><p>1</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">gym_ProMP/Reacher-v2</span></code></p></td>
|
||||
<td><p>A ProMP wrapped version of the Reacher-v2 environment.</p></td>
|
||||
<td><p>50</p></td>
|
||||
<td><p>2</p></td>
|
||||
</tr>
|
||||
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">gym_ProMP/FetchSlideDense-v1</span></code></p></td>
|
||||
<td><p>A ProMP wrapped version of the FetchSlideDense-v1 environment.</p></td>
|
||||
<td><p>50</p></td>
|
||||
<td><p>4</p></td>
|
||||
</tr>
|
||||
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">gym_ProMP/FetchReachDense-v1</span></code></p></td>
|
||||
<td><p>A ProMP wrapped version of the FetchReachDense-v1 environment.</p></td>
|
||||
<td><p>50</p></td>
|
||||
<td><p>4</p></td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
</section>
|
||||
</section>
|
||||
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
|
||||
<a href="meta.html" class="btn btn-neutral float-left" title="Metaworld" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
|
||||
<a href="../examples/general.html" class="btn btn-neutral float-right" title="General Usage Examples" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
|
||||
</div>
|
||||
|
||||
<hr/>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2020-2024, Fabian Otto, Onur Celik, Dominik Roth, Hongyi Zhou.</p>
|
||||
</div>
|
||||
|
||||
Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
|
||||
<a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
|
||||
provided by <a href="https://readthedocs.org">Read the Docs</a>.
|
||||
|
||||
|
||||
</footer>
|
||||
</div>
|
||||
</div>
|
||||
</section>
|
||||
</div>
|
||||
<script>
|
||||
jQuery(function () {
|
||||
SphinxRtdTheme.Navigation.enable(true);
|
||||
});
|
||||
</script>
|
||||
|
||||
</body>
|
||||
</html>
|
||||
Reference in New Issue
Block a user