From fd0201e07a7a7f76246cd1378c45e53986dda5e2 Mon Sep 17 00:00:00 2001 From: Frank Roeder Date: Mon, 2 Sep 2024 19:03:22 +0200 Subject: [PATCH] Add action space - rest WIP --- docs/benchmark/action_space.md | 17 +++++++++ docs/benchmark/benchmark_descriptions.md | 7 ++++ docs/benchmark/env_tasks_vs_task_init.md | 7 ++++ docs/benchmark/multi_and_meta_descriptions.md | 7 ++++ docs/benchmark/reward_functions.md | 7 ++++ docs/benchmark/state_space.md | 37 +++++++++++++++++++ docs/index.md | 12 ++++++ 7 files changed, 94 insertions(+) create mode 100644 docs/benchmark/action_space.md create mode 100644 docs/benchmark/benchmark_descriptions.md create mode 100644 docs/benchmark/env_tasks_vs_task_init.md create mode 100644 docs/benchmark/multi_and_meta_descriptions.md create mode 100644 docs/benchmark/reward_functions.md create mode 100644 docs/benchmark/state_space.md diff --git a/docs/benchmark/action_space.md b/docs/benchmark/action_space.md new file mode 100644 index 000000000..b67e30b29 --- /dev/null +++ b/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) | diff --git a/docs/benchmark/benchmark_descriptions.md b/docs/benchmark/benchmark_descriptions.md new file mode 100644 index 000000000..ff534ab09 --- /dev/null +++ b/docs/benchmark/benchmark_descriptions.md @@ -0,0 +1,7 @@ +--- +layout: "contents" +title: Benchmark Descriptions +firstpage: +--- + +# Benchmark Descriptions diff --git a/docs/benchmark/env_tasks_vs_task_init.md b/docs/benchmark/env_tasks_vs_task_init.md new file mode 100644 index 000000000..8134a1908 --- /dev/null +++ b/docs/benchmark/env_tasks_vs_task_init.md @@ -0,0 +1,7 @@ +--- +layout: "contents" +title: TBA +firstpage: +--- + +# TBA diff --git a/docs/benchmark/multi_and_meta_descriptions.md b/docs/benchmark/multi_and_meta_descriptions.md new file mode 100644 index 000000000..d40e690a0 --- /dev/null +++ b/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 diff --git a/docs/benchmark/reward_functions.md b/docs/benchmark/reward_functions.md new file mode 100644 index 000000000..c587b883b --- /dev/null +++ b/docs/benchmark/reward_functions.md @@ -0,0 +1,7 @@ +--- +layout: "contents" +title: Reward Functions +firstpage: +--- + +# Reward Functions diff --git a/docs/benchmark/state_space.md b/docs/benchmark/state_space.md new file mode 100644 index 000000000..f648cdbdb --- /dev/null +++ b/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)| diff --git a/docs/index.md b/docs/index.md index dba5904a2..c0857275f 100644 --- a/docs/index.md +++ b/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: