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