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Finger

mujorax.FingerSpinEnv

Bases: MjxPlaygroundEnv

DM Control FingerSpin.

Two-DoF finger spinning a free-rotating body; dense reward proportional to the spinner's angular velocity.

Parameters:

Name Type Description Default
config MjxPlaygroundConfig

Static configuration. Defaults to MjxPlaygroundConfig().

 None
Source code in mujorax/envs/finger.py
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class FingerSpinEnv(MjxPlaygroundEnv):
    """
    DM Control `FingerSpin`.

    Two-DoF finger spinning a free-rotating body; dense reward
    proportional to the spinner's angular velocity.

    Parameters
    ----------
    config : MjxPlaygroundConfig (optional)
        Static configuration. Defaults to `MjxPlaygroundConfig()`.
    """

    _PLAYGROUND_NAME = "FingerSpin"

mujorax.FingerTurnEasyEnv

Bases: MjxPlaygroundEnv

DM Control FingerTurnEasy.

Two-DoF finger rotating a body to a target angle with a large tolerance; sparse reward when within tolerance.

Parameters:

Name Type Description Default
config MjxPlaygroundConfig

Static configuration. Defaults to MjxPlaygroundConfig().

 None
Source code in mujorax/envs/finger.py
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class FingerTurnEasyEnv(MjxPlaygroundEnv):
    """
    DM Control `FingerTurnEasy`.

    Two-DoF finger rotating a body to a target angle with a large
    tolerance; sparse reward when within tolerance.

    Parameters
    ----------
    config : MjxPlaygroundConfig (optional)
        Static configuration. Defaults to `MjxPlaygroundConfig()`.
    """

    _PLAYGROUND_NAME = "FingerTurnEasy"

mujorax.FingerTurnHardEnv

Bases: MjxPlaygroundEnv

DM Control FingerTurnHard.

Same task as FingerTurnEasy with a smaller tolerance band.

Parameters:

Name Type Description Default
config MjxPlaygroundConfig

Static configuration. Defaults to MjxPlaygroundConfig().

 None
Source code in mujorax/envs/finger.py
Python
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class FingerTurnHardEnv(MjxPlaygroundEnv):
    """
    DM Control `FingerTurnHard`.

    Same task as `FingerTurnEasy` with a smaller tolerance band.

    Parameters
    ----------
    config : MjxPlaygroundConfig (optional)
        Static configuration. Defaults to `MjxPlaygroundConfig()`.
    """

    _PLAYGROUND_NAME = "FingerTurnHard"