After git clone, the structure of the project is
bash
$ tree . -L 1
gym-fetch
├── fetch
└── specs
To install, you can use pip
bash
pip install -e .
Alternatively, you can include the [./gym-fetch](./) directory as part of your `PYTHONPATH`.
Box Single Task Taskset
Simple Goal Distributions
The goal distribution of these tasks are pure. Tasks with `place` postfix have the goal
initialized at the center of the box, whereas the other two uses the goal distribution
from standard gym `FetchPickAndPlace-v1` environment.
| Name | Observation Spec | Goal Init/Comment | |
| ----------------- | ---------------- | ------- | ------ |
| **Box-fixed-v0** | achieved_goal: (3,)<br>desired_goal: (3,)<br>observation: (25,) | box is in the middle |  |
| **Box-aside-v0** | achieved_goal: (3,)<br>desired_goal: (3,)<br>observation: (25,) | box is on the side |  |
| **Box-fixed-place-v0** | achieved_goal: (3,)<br>desired_goal: (3,)<br>observation: (25,) | box is on the side |  |
| **Box-aside-place-v0** | achieved_goal: (3,)<br>desired_goal: (3,)<br>observation: (25,) | box is on the side |  |
Mixture Goal Distributions
These two training environments uses a mixture of 20/80% of pick-and-place distribution vs target inside the box.
| Name | Observation Spec | Goal Init/Comment | |
| ----------------- | ---------------- | ------- | ------ |
| **Box-fixed-place-train-v0** | achieved_goal: (3,)<br>desired_goal: (3,)<br>observation: (25,) | box is on the side |  |
| **Box-aside-place-train-v0** | achieved_goal: (3,)<br>desired_goal: (3,)<br>observation: (25,) | box is on the side |  |
Details of Each Task
python
box_envs = ['fetch:Box-aside-v0',
'fetch:Box-aside-place-v0',
'fetch:Box-aside-place-train-v0',
'fetch:Box-fixed-v0',
'fetch:Box-fixed-place-v0',
'fetch:Box-fixed-place-train-v0']
| **Box-aside-v0** | **distribution** | |
|:----------------:|:----------------:|:-:|
|  |  |  |
| **Box-aside-place-v0** | **distribution** | |
|  |  |  |
| **Box-aside-place-train-v0** | **distribution** | |
|  |  |  |
| **Box-fixed-v0** | **distribution** | |
|  |  |  |
| **Box-fixed-place-v0** | **distribution** | |
|  |  |  |
| **Box-fixed-place-train-v0** | **distribution** | |
|  |  |  |