Reacher Environment

The Reacher environment is a high-dimensional continuous control task where a two-jointed robotic arm must learn to reach a target location in a 2D plane. The goal is to minimize the distance between the arm’s end effector and the target while efficiently controlling the arm’s movements. See the Gymnasium documentation for more details.

Reacher Animation

The Reacher Environment. GIF courtesy of the Gymnasium Documentation.

Tunable Parameters

Parameter

Description

Default Value

gravity

Global gravitational acceleration

[ 0. 0. -9.81]

body0_mass

Mass of the first body

0.03560471674068433

body1_mass

Mass of the second body

0.03560471674068433

ground_friction

Coefficient of friction for the ground

1.0

joint0_damping

Damping of the first joint

1.0

joint1_damping

Damping of the second joint

1.0