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README
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Extended Taskset for the Fetch Robot
====================================
|PyPI version|
Installation
------------
you can do:
.. code-block:: bash
pip install gym-fetch
Alternatively, you can clone this repo and install under development
mode:
::
git clone <this repo>
cd <this repo>
pip install -e .
Environments
------------
We extend existing Fetch environments from gym, with 7 new manipulation
tasks. The ``gym.Fetch`` environment are much better engineered than the
sawyer environments that ``metaworld`` uses. They are faster to
initialize, and have a small (50 step) maximum episode length, making
these environments faster to train on.
We might or might not need to extend the ``max_episode_steps`` on
more complex tasks.
======== ======= ============ ========
Reach-v2 Push-v2 PickPlace-v2 Slide-v2
======== ======= ============ ========
\
======== ======= ============ ========
For Up-To-Date Environments
---------------------------
All documentations are maintained in the `https://github.com/geyang/gym_fetch/blob/master/specs <specs>`__ folder,
where each task set is one markdown file.
- **original gym fetch tasks**:
`https://github.com/geyang/gym_fetch/blob/master/specs/gym_fetch.md <https://github.com/geyang/gym_fetch/blob/master/specs/gym_fetch.md>`__
- **``bin`` tasks**: `https://github.com/geyang/gym_fetch/blob/master/specs/bin.md <https://github.com/geyang/gym_fetch/blob/master/specs/bin.md>`__
- **``bin_debug`` tasks**: `https://github.com/geyang/gym_fetch/blob/master/specs/bin_debug.md <https://github.com/geyang/gym_fetch/blob/master/specs/bin.md>`__
- **``box`` tasks**: `https://github.com/geyang/gym_fetch/blob/master/specs/box.md <https://github.com/geyang/gym_fetch/blob/master/specs/box.md>`__
- **``drawer`` tasks**: `https://github.com/geyang/gym_fetch/blob/master/specs/drawer.md <https://github.com/geyang/gym_fetch/blob/master/specs/drawer.md>`__
The multi-task environments are still under development. They are
located under
.. code-block:: bash
fetch
├── tasksets
├── box_block.md
├── box_block.py
Primitive Single Task Environments
==================================
The tasks involve a single primitive action such as open/closing a box,
or a drawer. They do not additionally involve placing an object into the
opened drawer or box. We include bin picking and placing because the bin
does not require additional actions to open.
================== =================== =========== ============
Box-open-v0 Box-close-v0 Bin-pick-v0 Bin-place-v0
================== =================== =========== ============
\
**Drawer-open-v0** **Drawer-close-v0**
\
================== =================== =========== ============
Intermediate Task
=================
These tasks additionally require placing the object inside an open
drawer or box. We include the ``Bin-picking`` environment for
completeness.
=============== ======
Name Status
=============== ======
Bin-pick-v2 ✅ done
Bin-place-v2 ✅ done
Box-place-v2 ✅ done
Box-pick-v2 ✅ done
Drawer-place-v2 ✅ done
Drawer-pick-v2 ✅ done
=============== ======
================== =================== =========== ============
Bin-pick-v0 Bin-place-v0 Box-pick-v0 Box-place-v0
================== =================== =========== ============
\
**Drawer-pick-v0** **Drawer-place-v0**
\
================== =================== =========== ============
Multi-task Environments
=======================
These environments require significantly more memory due to the
increasing complexity of contact detection and collision dynamics. These
are also slower to run.
=============== ======
Name Render
=============== ======
BoxBin-v2 ✅ done
DrawerBin-v2 ✅ done
BoxBinDrawer-v2 ✅ done
=============== ======
========= ============ ===============
BoxBin-v0 DrawerBin-v0 BoxBinDrawer-v0
========= ============ ===============
\
========= ============ ===============
.. |PyPI version| image:: https://badge.fury.io/py/gym-fetch.svg
:target: https://badge.fury.io/py/gym-fetch