Environments
panda-gym
includes:
- 1 robot:
the Franka Emika Panda robot,
- 6 tasks:
Reach: the robot must place its end-effector at a target position,
Push: the robot has to push a cube to a target position,
Slide: the robot has to slide an object to a target position,
Pick and place: the robot has to pick up and place an object at a target position,
Stack: the robot has to stack two cubes at a target position,
Flip: the robot must flip the cube to a target orientation,
- 2 control modes:
End-effector displacement control: the action corresponds to the displacement of the end-effector.
Joints control: the action corresponds to the individual motion of each joint,
- 2 reward types:
Sparse: the environment return a reward if and only if the task is completed,
Dense: the closer the agent is to completing the task, the higher the reward.
By default, the reward is sparse and the control mode is the end-effector displacement. The complete set of environments present in the package is presented in the following list.
Sparce reward, end-effector control (default setting)
PandaReach-v3
PandaPush-v3
PandaSlide-v3
PandaPickAndPlace-v3
PandaStack-v3
PandaFlip-v3
Dense reward, end-effector control
PandaReachDense-v3
PandaPushDense-v3
PandaSlideDense-v3
PandaPickAndPlaceDense-v3
PandaStackDense-v3
PandaFlipDense-v3
Sparce reward, joints control
PandaReachJoints-v3
PandaPushJoints-v3
PandaSlideJoints-v3
PandaPickAndPlaceJoints-v3
PandaStackJoints-v3
PandaFlipJoints-v3
Dense reward, joints control
PandaReachJointsDense-v3
PandaPushJointsDense-v3
PandaSlideJointsDense-v3
PandaPickAndPlaceJointsDense-v3
PandaStackJointsDense-v3
PandaFlipJointsDense-v3