Swimmer Environment

The Swimmer environment is a high-dimensional continuous control task where a multi-segmented robotic swimmer must learn to propel itself forward in a fluid environment. The goal is to maximize forward velocity while maintaining stability and efficient movement. See the Gymnasium documentation for more details.

The Swimmer Environment. GIF courtesy of the Gymnasium Documentation.

Tunable Parameters

Parameter	Description	Default Value
gravity	Global gravitational acceleration	[ 0. 0. -9.81]
body_mid_mass	Mass of the middle body segment	35.604716740684324
geom_floor_friction	Coefficient of friction for the floor	1.0