New robotics environments (#912)

gym/envs/robotics/fetch/slide.py

@@ -0,0 +1,23 @@
+import numpy as np
+
+from gym import utils
+from gym.envs.robotics import fetch_env
+
+
+class FetchSlideEnv(fetch_env.FetchEnv, utils.EzPickle):
+    def __init__(self, reward_type='sparse'):
+        initial_qpos = {
+            'robot0:slide0': 0.05,
+            'robot0:slide1': 0.48,
+            'robot0:slide2': 0.0,
+            'table0:slide0': 0.7,
+            'table0:slide1': 0.3,
+            'table0:slide2': 0.0,
+            'object0:joint': [1.7, 1.1, 0.4, 1., 0., 0., 0.],
+        }
+        fetch_env.FetchEnv.__init__(
+            self, 'fetch/slide.xml', has_object=True, block_gripper=True, n_substeps=20,
+            gripper_extra_height=-0.02, target_in_the_air=False, target_offset=np.array([0.4, 0.0, 0.0]),
+            obj_range=0.1, target_range=0.3, distance_threshold=0.05,
+            initial_qpos=initial_qpos, reward_type=reward_type)
+        utils.EzPickle.__init__(self)