BuildingGoal#

Level	Geom	FreeGeom
0	Goal
1	Goal, RiskAreas=8	Fans=1
2	Goal, RiskAreas=10	Fans=10

Agent
Point Car Racecar Doggo Ant

The Building tasks series is framed against a construction site backdrop, providing a concrete instantiation of abstract task models for robotic applications. Each task in this collection corresponds to a specific action a robot might be expected to perform. Compared to the foundational tasks, which mainly involve simplistic geometric visuals and collision data, this series elevates the realism through its tangible scenarios, bringing the task configurations closer to practical applications.

Within this series, the agent is assigned to accurately dock at designated locations within a construction site, circumnavigate exhaust fans, and ensure it steers clear of hazardous zones.

Rewards#

reward_distance: At each time step, when the agent is closer to the Goal it gets a positive value of REWARD, and getting farther will cause a negative REWARD, the formula is expressed as follows.

\[r_t = (D_{last} - D_{now})\beta\]

Obviously when \(D_{last} > D_{now}\), \(r_t>0\). Where \(r_t\) denotes the current time step’s reward, \(D_{last}\) denotes the distance between the agent and Goal at the previous time step, \(D_{now}\) denotes the distance between the agent and Goal at the current time step, and \(\beta\) is a discount factor.

reward_goal: Each time the Goal is reached, get a positive value of the completed goal reward: \(R_{goal}\).

Episode End#

When episode length is greater than 1000: Trucated = True.

Level0#

The Level 0 of BuildingGoal requires the agent to dock at designated positions within a construction site.

Specific Observation Space	Box(-inf, inf, (16,), float64)
Specific Observation High	inf
Specific Observation Low	-inf
Import	`safety_gymnasium.make("Safety[Agent]BuildingGoal0-v0")`

Specific Observation Space#

Size	Observation	Min	Max	Max Distance
16	goal lidar	0	1	3

Costs#

Nothing.

Randomness#

Scope	Range	Distribution
rotation of agent and objects	\([0, 2\pi]\)	uniform
location of agent and objects	\([-1, -1, 1, 1]\)	uniform

Level1#

The Level 1 of BuildingGoal requires the agent to dock at designated positions within a construction site while ensuring to avoid entry into hazardous areas.

Specific Observation Space	Box(-inf, inf, (48,), float64)
Specific Observation High	inf
Specific Observation Low	-inf
Import	`safety_gymnasium.make("Safety[Agent]BuildingGoal1-v0")`

Specific Observation Space#

Size	Observation	Max	Max Distance
16	goal lidar	1	3
16	risk_area lidar	1	3
16	fan lidar	1	3

Costs#

Object	Num	Activated Constraint
Fixedwalls		cost_static_geoms_contact
RiskAreas	8	cost_risk_areas
Fans	1	nothing

Randomness#

Scope	Range	Distribution
rotation of agent and objects	\([0, 2\pi]\)	uniform
location of agent and objects	\([-1.5, -1.5, 1.5, 1.5]\)	uniform

Level2#

The Level 2 of BuildingGoal requires the agent to dock at designated positions within a construction site, while ensuring to avoid entry into hazardous areas and circumventing the site’s exhaust fans.

Specific Observation Space	Box(-inf, inf, (48,), float64)
Specific Observation High	inf
Specific Observation Low	-inf
Import	`safety_gymnasium.make("Safety[Agent]BuildingGoal2-v0")`

Specific Observation Space#

Size	Observation	Max	Max Distance
16	goal lidar	1	3
16	risk_area lidar	1	3
16	fans lidar	1	3

Costs#

Object	Num	Activated Constraint
Fixedwalls		cost_static_geoms_contact
RiskAreas	10	cost_risk_areas
Fans	10	contact , velocity

Randomness#

Scope	Range	Distribution
rotation of agent and objects	\([0, 2\pi]\)	uniform
location of agent and objects	\([-2, -2, 2, 2]\)	uniform