fancy_gym/alr_envs/alr/classic_control

Classic Control

Step-based Environments

Name	Description	Horizon	Action Dimension	Observation Dimension
SimpleReacher-v0	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.	200	2	9
LongSimpleReacher-v0	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.	200	5	18
ViaPointReacher-v0	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.	200	5	18
HoleReacher-v0	5 link reaching task where the end-effector needs to reach into a narrow hole without collding with itself or walls	200	5	18

MP Environments

Name	Description	Horizon	Action Dimension	Context Dimension
ViaPointReacherDMP-v0	A DMP provides a trajectory for the ViaPointReacher-v0 task.	200	25
HoleReacherFixedGoalDMP-v0	A DMP provides a trajectory for the HoleReacher-v0 task with a fixed goal attractor.	200	25
HoleReacherDMP-v0	A DMP provides a trajectory for the HoleReacher-v0 task. The goal attractor needs to be learned.	200	30
ALRBallInACupSimpleDMP-v0	A DMP provides a trajectory for the ALRBallInACupSimple-v0 task where only 3 joints are actuated.	4000	15
ALRBallInACupDMP-v0	A DMP provides a trajectory for the ALRBallInACup-v0 task.	4000	35
ALRBallInACupGoalDMP-v0	A DMP provides a trajectory for the ALRBallInACupGoal-v0 task.	4000	35	3