Pusher Environment

The Pusher environment is a high-dimensional continuous control task where a robotic arm must learn to push a block to a target location on a table. The goal is to minimize the distance between the block and the target while efficiently controlling the arm’s movements. See the Gymnasium documentation for more details.

The Pusher Environment. GIF courtesy of the Gymnasium Documentation.

Tunable Parameters

Parameter	Description	Default Value
gravity	Global gravitational acceleration	[0. 0. 0.]
r_shoulder_pan_link_mass	Mass of the right shoulder pan link	7.293521504574065
r_shoulder_lift_link_mass	Mass of the right shoulder lift link	3.141592653589794
r_upper_arm_link_mass	Mass of the right upper arm link	1.6286016316209488
r_forearm_link_mass	Mass of the right forearm link	0.8427322293254622
r_shoulder_pan_joint_damping	Damping of the right shoulder pan joint	1.0
r_shoulder_lift_joint_damping	Damping of the right shoulder lift joint	1.0
r_elbow_flex_joint_damping	Damping of the right elbow flex joint	0.1