EgoGym: A robotics environment for egocentric control tasks
Project description
EgoGym
EgoGym is a lightweight benchmark suite for egocentric robot policies
env = gym.make(
"Egogym-Pick-v0", # Options: "Egogym-Pick-v0", "Egogym-Open-v0", "Egogym-Close-v0"
robot="rum", # Options: "rum", "droid"
action_space="delta", # Options: "delta", "absolute"
num_objs=5, # Options: 1-5
)
Actions (17-dim):
[0-15]: flattened 4x4 transformation[16]: continuous gripper (0=open, 1=close)
Coordinate Frame:
- x: Right of camera
- y: Up of camera
- z: Backward of camera
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