rlevo-environments 0.2.0

RL benchmark environments and landscapes for rlevo (internal crate — use `rlevo` for the full API)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72

//! Configuration for the [`super::Reacher`] environment.
//!
//! [`ReacherConfig`] collects every tunable parameter in one place. The
//! [`Default`] impl reproduces the Gymnasium v5 reacher XML values; override
//! individual fields when constructing via [`super::Reacher::with_config`].

use crate::locomotion::common::Gear;

/// Environment configuration for [`super::Reacher`].
///
/// Defaults match the Gymnasium v5 reacher XML: gear `[200, 200]`, dt 0.01,
/// frame_skip 2 (env dt = 0.02), reset noise 0.1, ctrl-cost weight 0.1,
/// target-disk radius 0.2, truncation at 50.
#[derive(Debug, Clone)]
pub struct ReacherConfig {
    /// Seed for the internal `StdRng` used during resets. The same seed
    /// always produces the same sequence of initial states.
    pub seed: u64,
    /// Per-joint gear ratios applied to the clipped action before the
    /// resulting torques are passed to the rigid bodies.
    /// Default: `[200.0, 200.0]` (shoulder, elbow).
    pub gear: Gear<2>,
    /// Physics simulation timestep in seconds. Default: `0.01`.
    pub dt: f32,
    /// Number of physics sub-steps per `Environment::step` call. The
    /// effective environment timestep is `dt * frame_skip`. Default: `2`
    /// (env dt = 0.02 s).
    pub frame_skip: u32,
    /// Half-width of the uniform noise added to each joint angle and joint
    /// velocity at reset. Default: `0.1` rad / (rad s⁻¹).
    pub reset_noise_scale: f32,
    /// Episode length limit. A step that reaches this count returns
    /// `EpisodeStatus::Truncated`. Default: `50`.
    pub max_steps: usize,
    /// Inclusive bounds applied to each action element before gear
    /// multiplication. Default: `(-1.0, 1.0)`.
    pub action_clip: (f32, f32),
    /// Weight applied to the squared control norm in the reward:
    /// `reward_control = -ctrl_cost_weight · ‖action‖²`. Default: `0.1`.
    pub ctrl_cost_weight: f32,
    /// Full length of link 1 (shoulder to elbow) in metres. Default: `0.10`.
    pub link1_length: f32,
    /// Full length of link 2 (elbow to fingertip) in metres. Default: `0.11`.
    pub link2_length: f32,
    /// Capsule radius for both links in metres. Default: `0.01`.
    pub link_radius: f32,
    /// Mass of each link in kilograms. Default: `0.0356`.
    pub link_mass: f32,
    /// Radius of the disk from which the target position is uniformly
    /// sampled at each reset. Default: `0.2` m.
    pub target_disk_radius: f32,
}

impl Default for ReacherConfig {
    fn default() -> Self {
        Self {
            seed: 0,
            gear: Gear::new([200.0, 200.0]),
            dt: 0.01,
            frame_skip: 2,
            reset_noise_scale: 0.1,
            max_steps: 50,
            action_clip: (-1.0, 1.0),
            ctrl_cost_weight: 0.1,
            link1_length: 0.10,
            link2_length: 0.11,
            link_radius: 0.01,
            link_mass: 0.0356,
            target_disk_radius: 0.2,
        }
    }
}