Add action space

- rest WIP

docs/benchmark/action_space.md

@@ -0,0 +1,17 @@
+---
+layout: "contents"
+title: Action Space
+firstpage:
+---
+
+# Action Space
+
+The action space of the Sawyer robot is a ```Box(-1.0, 1.0, (4,), float32)```.
+An action represents the Cartesian displacement dx, dy, and dz of the end effector, and an additional action for gripper control.
+
+| Num | Action | Control Min | Control Max | Name (in XML file) | Joint | Unit |
+|-----|--------|-------------|-------------|---------------------|-------|------|
+| 0 | Displacement of the end effector in x direction (dx) | -1 | 1 | mocap | N/A | position (m) |
+| 1 | Displacement of the end effector in y direction (dy) | -1 | 1 | mocap | N/A | position (m) |
+| 2 | Displacement of the end effector in z direction (dz) | -1 | 1 | mocap | N/A | position (m) |
+| 3 | Gripper adjustment (closing/opening) | -1 | 1 | rightclaw, leftclaw | r_close, l_close | position (normalized) |

docs/benchmark/benchmark_descriptions.md

@@ -0,0 +1,7 @@
+---
+layout: "contents"
+title: Benchmark Descriptions
+firstpage:
+---
+
+# Benchmark Descriptions

docs/benchmark/env_tasks_vs_task_init.md

@@ -0,0 +1,7 @@
+---
+layout: "contents"
+title: TBA
+firstpage:
+---
+
+# TBA

docs/benchmark/multi_and_meta_descriptions.md

@@ -0,0 +1,7 @@
+---
+layout: "contents"
+title: Multi and Meta RL Task Descriptions
+firstpage:
+---
+
+# Multi and Meta RL Task Descriptions

docs/benchmark/reward_functions.md

@@ -0,0 +1,7 @@
+---
+layout: "contents"
+title: Reward Functions
+firstpage:
+---
+
+# Reward Functions

docs/benchmark/state_space.md

@@ -0,0 +1,37 @@
+---
+layout: "contents"
+title: State Space 
+firstpage:
+---
+
+# State Space
+
+The observation array consists of the gripper's (end effector's) position and state, alongside the object of interest's position and orientation. This table will detail each component usually present in such environments:
+
+| Num | Observation Description                       | Min     | Max     | Site Name (XML)        | Joint Name (XML) | Joint Type | Unit        |
+|-----|-----------------------------------------------|---------|---------|------------------------|-------------------|------------|-------------|
+| 0   | End effector x position in global coordinates | -Inf    | Inf     | hand                   | -                 | -          | position (m)|
+| 1   | End effector y position in global coordinates | -Inf    | Inf     | hand                   | -                 | -          | position (m)|
+| 2   | End effector z position in global coordinates | -Inf    | Inf     | hand                   | -                 | -          | position (m)|
+| 3   | Gripper distance apart                       | 0.0     | 1.0     | -                      | -                 | -          | dimensionless|
+| 4   | Object x position in global coordinates       | -Inf    | Inf     | objGeom (derived)      | -                 | -          | position (m)|
+| 5   | Object y position in global coordinates       | -Inf    | Inf     | objGeom (derived)      | -                 | -          | position (m)|
+| 6   | Object z position in global coordinates       | -Inf    | Inf     | objGeom (derived)      | -                 | -          | position (m)|
+| 7   | Object x quaternion component in global coordinates | -Inf    | Inf | objGeom (derived)      | -                 | -          | quaternion  |
+| 8   | Object y quaternion component in global coordinates | -Inf    | Inf | objGeom (derived)      | -                 | -          | quaternion  |
+| 9   | Object z quaternion component in global coordinates | -Inf    | Inf | objGeom (derived)      | -                 | -          | quaternion  |
+| 10  | Object w quaternion component in global coordinates | -Inf    | Inf | objGeom (derived)      | -                 | -          | quaternion  |
+| 11  | Previous end effector x position              | -Inf    | Inf     | hand                   | -                 | -          | position (m)|
+| 12  | Previous end effector y position              | -Inf    | Inf     | hand                   | -                 | -          | position (m)| 
+| 13  | Previous end effector z position              | -Inf    | Inf     | hand                   | -                 | -          | position (m)|
+| 14  | Previous gripper distance apart               | 0.0     | 1.0     | -                      | -                 | -          | dimensionless|
+| 15  | Previous object x position in global coordinates | -Inf | Inf     | objGeom (derived)      | -                 | -          | position (m)|
+| 16  | Previous object y position in global coordinates | -Inf | Inf     | objGeom (derived)      | -                 | -          | position (m)|
+| 17  | Previous object z position in global coordinates | -Inf | Inf     | objGeom (derived)      | -                 | -          | position (m)|
+| 18  | Previous object x quaternion component in global coordinates | -Inf | Inf | objGeom (derived) | - | - | quaternion |
+| 19  | Previous object y quaternion component in global coordinates | -Inf | Inf | objGeom (derived) | - | - | quaternion |
+| 20  | Previous object z quaternion component in global coordinates | -Inf | Inf | objGeom (derived) | - | - | quaternion |
+| 21  | Previous object w quaternion component in global coordinates | -Inf | Inf | objGeom (derived) | - | - | quaternion |
+| 22  | Goal x position                                | -Inf    | Inf     | goal (derived)         | -                 | -          | position (m)|
+| 23  | Goal y position                                | -Inf    | Inf     | goal (derived)         | -                 | -          | position (m)|
+| 24  | Goal z position                                | -Inf    | Inf     | goal (derived)         | -                 | -          | position (m)|

docs/index.md

@@ -47,6 +47,18 @@ rendering/rendering
 usage/basic_usage
 ```
 
+```{toctree}
+:hidden:
+:caption: Benchmark Information
+
+benchmark/state_space
+benchmark/action_space
+benchmark/benchmark_descriptions
+benchmark/env_tasks_vs_task_init
+benchmark/multi_and_meta_descriptions
+benchmark/reward_functions
+```
+
 
 ```{toctree}
 :hidden: