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Reacher

mujorax.ReacherEasyEnv

Bases: MjxPlaygroundEnv

DM Control ReacherEasy.

Two-link planar arm with a large target; dense reward proportional to the negative distance from the fingertip to the target.

Parameters:

Name Type Description Default
config MjxPlaygroundConfig

Static configuration. Defaults to MjxPlaygroundConfig().

 None
Source code in mujorax/envs/reacher.py
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class ReacherEasyEnv(MjxPlaygroundEnv):
    """
    DM Control `ReacherEasy`.

    Two-link planar arm with a large target; dense reward proportional
    to the negative distance from the fingertip to the target.

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

    _PLAYGROUND_NAME = "ReacherEasy"

mujorax.ReacherHardEnv

Bases: MjxPlaygroundEnv

DM Control ReacherHard.

Same arm as ReacherEasy with a smaller target; identical observation/action shapes.

Parameters:

Name Type Description Default
config MjxPlaygroundConfig

Static configuration. Defaults to MjxPlaygroundConfig().

 None
Source code in mujorax/envs/reacher.py
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class ReacherHardEnv(MjxPlaygroundEnv):
    """
    DM Control `ReacherHard`.

    Same arm as `ReacherEasy` with a smaller target; identical
    observation/action shapes.

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

    _PLAYGROUND_NAME = "ReacherHard"