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Tweak sphere rew#5

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Yasu31 wants to merge 23 commits intomainsrl-ethz/faive_gym_oss:mainfrom tweak_sphere_rewsrl-ethz/faive_gym_oss:tweak_sphere_rewCopy head branch name to clipboard

+314-152

Commits

Commits on Oct 7, 2023

• fix: environment was not reset if only custom_reset was used

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• allow for potentially more dofs than in the hand (e.g. have articulated objects in the scene)

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• initial addition of option to fix/unfix hand or object

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• don't reset object state if fixed

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• reset hand state if not fixed

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• if multiple objects are specirfied, use random object in list, not in order

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• replace mostly useless variable with new variable that can be more versatile

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• remove unused member variabes and functions

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• remove unused code blocks

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• initial addition of the crawl task

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Commits on Oct 10, 2023

• implement crawling task

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Commits on Oct 11, 2023

• add book

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• reset object dof state if it has some

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• fix error about aggregate size when introducing articulated objects

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Commits on Nov 13, 2023

• fix the documentation about quaternion element order (not wxyz, but xyzw)

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Commits on Nov 14, 2023

• use separate func for resetting object states

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• - move the goal definition to within reset_goal_states(), so that it can be edited in child class

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Commits on Nov 15, 2023

• Merge branch 'merge_oss_changes' into enable_free_robot

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• Merge branch 'fix_rotation_doc' into enable_free_robot

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• fix indentation

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• tweak docs

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Commits on Dec 6, 2023

• reward maxes out at 1 rad/s and doesn't get larger or smaller after that

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• Merge branch 'enable_free_robot' into tweak_sphere_rew

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