| .. _uw_environments: |
|
|
| Available UW Environments |
| =========================== |
|
|
| The following lists comprises of all the RL tasks implementations that are available in UW Lab. |
| While we try to keep this list up-to-date, you can always get the latest list of environments by |
| running the following command: |
|
|
| .. tab-set:: |
| :sync-group: os |
|
|
| .. tab-item:: :icon:`fa-brands fa-linux` Linux |
| :sync: linux |
|
|
| .. code:: bash |
|
|
| python scripts/environments/list_envs.py |
|
|
| .. tab-item:: :icon:`fa-brands fa-windows` Windows |
| :sync: windows |
|
|
| .. code:: batch |
|
|
| python scripts\environments\list_envs.py |
|
|
|
|
| Single-agent |
| ------------ |
|
|
| Manipulation |
| ~~~~~~~~~~~~ |
|
|
| Environments based on fixed-arm manipulation tasks. |
|
|
| .. table:: |
| :widths: 33 37 30 |
|
|
| +--------------------------------+------------------------------------------------+------------------------------------------------------------------------------+ |
| | World | Environment ID | Description | |
| +================================+================================================+==============================================================================+ |
| | |track-goal-ur5| | |track-goal-ur5-link| | Goal tracking with Ur5 robot with Robotiq gripper | |
| +--------------------------------+------------------------------------------------+------------------------------------------------------------------------------+ |
| | |track-goal-tycho| | |track-goal-tycho-link| | Goal tracking with Tycho robot | |
| +--------------------------------+------------------------------------------------+------------------------------------------------------------------------------+ |
| | |track-goal-xarm-leap| | |track-goal-xarm-leap-link| | Goal tracking with Xarm with Leap Hand robot | |
| +--------------------------------+------------------------------------------------+------------------------------------------------------------------------------+ |
| | |ext-nut-thread-franka| | |ext-nut-thread-franka-link| | Threading nut on to bolt on nist board | |
| +--------------------------------+------------------------------------------------+------------------------------------------------------------------------------+ |
| | |ext-gear-mesh-franka| | |ext-gear-mesh-franka-link| | Inserting gear on to gear base on nist board | |
| +--------------------------------+------------------------------------------------+------------------------------------------------------------------------------+ |
| | |ext-peg-insert-franka| | |ext-peg-insert-franka-link| | Inserting peg rod into hole on nist board | |
| +--------------------------------+------------------------------------------------+------------------------------------------------------------------------------+ |
| | |omnireset-ur5e-drawer| | |omnireset-ur5e-drawer-link| | Assemble drawer into the bottom of cabinet | |
| +--------------------------------+------------------------------------------------+------------------------------------------------------------------------------+ |
| | |omnireset-ur5e-fbleg| | |omnireset-ur5e-fbleg-link| | Insert and twist leg into a furniture bench table top | |
| +--------------------------------+------------------------------------------------+------------------------------------------------------------------------------+ |
| | |omnireset-ur5e-peg-insert| | |omnireset-ur5e-peg-insert-link| | Insert a square peg into the square peg hole | |
| +--------------------------------+------------------------------------------------+------------------------------------------------------------------------------+ |
| | |omnireset-ur5e-rectangle| | |omnireset-ur5e-rectangle-link| | Orient a rectangle into desired location during a wall | |
| +--------------------------------+------------------------------------------------+------------------------------------------------------------------------------+ |
| | |omnireset-ur5e-cupcake| | |omnireset-ur5e-cupcake-link| | Place a cupcake into desired location on a plate | |
| +--------------------------------+------------------------------------------------+------------------------------------------------------------------------------+ |
| | |omnireset-ur5e-cube-stack| | |omnireset-ur5e-cube-stack-link| | Stack one cube on top of another cube in a desired orientation. | |
| +--------------------------------+------------------------------------------------+------------------------------------------------------------------------------+ |
|
|
| .. |track-goal-ur5| image:: ../_static/tasks/manipulation/ur5_track_goal.jpg |
| .. |track-goal-tycho| image:: ../_static/tasks/manipulation/tycho_track_goal.jpg |
| .. |track-goal-xarm-leap| image:: ../_static/tasks/manipulation/xarm_leap_track_goal.jpg |
| .. |ext-nut-thread-franka| image:: ../_static/tasks/manipulation/factory_ext/nut_thread_ext.jpg |
| .. |ext-gear-mesh-franka| image:: ../_static/tasks/manipulation/factory_ext/gear_mesh_ext.jpg |
| .. |ext-peg-insert-franka| image:: ../_static/tasks/manipulation/factory_ext/peg_insert_ext.jpg |
| .. |omnireset-ur5e-drawer| image:: ../_static/tasks/manipulation/omnireset_drawer_assemble.jpg |
| .. |omnireset-ur5e-fbleg| image:: ../_static/tasks/manipulation/omnireset_fbleg_screw.jpg |
| .. |omnireset-ur5e-peg-insert| image:: ../_static/tasks/manipulation/omnireset_peg_insert.jpg |
| .. |omnireset-ur5e-rectangle| image:: ../_static/tasks/manipulation/omnireset_rectangle_reorientation.jpg |
| .. |omnireset-ur5e-cupcake| image:: ../_static/tasks/manipulation/omnireset_cupcake_on_plate.jpg |
| .. |omnireset-ur5e-cube-stack| image:: ../_static/tasks/manipulation/omnireset_cube_stack.jpg |
|
|
| .. |track-goal-ur5-link| replace:: `UW-Track-Goal-Ur5-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/track_goal/config/ur5/track_goal_ur5_env_cfg.py>`__ |
| .. |track-goal-tycho-link| replace:: `UW-Track-Goal-Tycho-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/track_goal/config/tycho/tycho_track_goal.py>`__ |
| .. |track-goal-xarm-leap-link| replace:: `UW-Track-Goal-Xarm-Leap-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/track_goal/config/xarm_leap/track_goal_xarm_leap.py>`__ |
| .. |ext-nut-thread-franka-link| replace:: `UW-Nut-Thread-Franka-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/factory_extension/nutthread_env_cfg.py>`__ |
| .. |ext-gear-mesh-franka-link| replace:: `UW-Gear-Mesh-Franka-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/factory_extension/gearmesh_env_cfg.py>`__ |
| .. |ext-peg-insert-franka-link| replace:: `UW-Peg-Insert-Franka-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/factory_extension/peginsert_env_cfg.py>`__ |
| .. |omnireset-ur5e-drawer-link| replace:: `OmniReset-Ur5eRobotiq2f85-RelCartesianOSC-State-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/omnireset/config/ur5e_robotiq_2f85/rl_state_cfg.py>`__ |
| .. |omnireset-ur5e-fbleg-link| replace:: `OmniReset-Ur5eRobotiq2f85-RelCartesianOSC-State-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/omnireset/config/ur5e_robotiq_2f85/rl_state_cfg.py>`__ |
| .. |omnireset-ur5e-peg-insert-link| replace:: `OmniReset-Ur5eRobotiq2f85-RelCartesianOSC-State-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/omnireset/config/ur5e_robotiq_2f85/rl_state_cfg.py>`__ |
| .. |omnireset-ur5e-rectangle-link| replace:: `OmniReset-Ur5eRobotiq2f85-RelCartesianOSC-State-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/omnireset/config/ur5e_robotiq_2f85/rl_state_cfg.py>`__ |
| .. |omnireset-ur5e-cupcake-link| replace:: `OmniReset-Ur5eRobotiq2f85-RelCartesianOSC-State-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/omnireset/config/ur5e_robotiq_2f85/rl_state_cfg.py>`__ |
| .. |omnireset-ur5e-cube-stack-link| replace:: `OmniReset-Ur5eRobotiq2f85-RelCartesianOSC-State-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/omnireset/config/ur5e_robotiq_2f85/rl_state_cfg.py>`__ |
|
|
|
|
| Locomotion |
| ~~~~~~~~~~ |
|
|
| Environments based on legged locomotion tasks. |
|
|
| .. table:: |
| :widths: 33 37 30 |
|
|
| +--------------------------------+----------------------------------------------+------------------------------------------------------------------------------+ |
| | World | Environment ID | Description | |
| +================================+==============================================+==============================================================================+ |
| | |position-gap-spot| | |position-gap-spot-link| | Track a position command on gap terrain with the Spot robot | |
| +--------------------------------+----------------------------------------------+------------------------------------------------------------------------------+ |
| | |position-pit-spot| | |position-pit-spot-link| | Track a position command on pit terrain with the Spot robot | |
| +--------------------------------+----------------------------------------------+------------------------------------------------------------------------------+ |
| | |position-stepping-stone-spot| | |position-stepping-stone-spot-link| | Track a position command on stepping stone terrain with the Spot robot | |
| +--------------------------------+----------------------------------------------+------------------------------------------------------------------------------+ |
| | |position-inv-slope-spot| | |position-inv-slope-spot-link| | Track a position command on inverse slope terrain with the Spot robot | |
| +--------------------------------+----------------------------------------------+------------------------------------------------------------------------------+ |
| | |position-obstacle-spot| | |position-obstacle-spot-link| | Track a position command on obstacle terrain with the Spot robot | |
| +--------------------------------+----------------------------------------------+------------------------------------------------------------------------------+ |
|
|
| .. |position-gap-spot-link| replace:: `UW-Position-Gap-Spot-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/locomotion/advance_skills/config/spot/spot_env_cfg.py>`__ |
| .. |position-pit-spot-link| replace:: `UW-Position-Pit-Spot-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/locomotion/advance_skills/config/spot/spot_env_cfg.py>`__ |
| .. |position-stepping-stone-spot-link| replace:: `UW-Position-Stepping-Stone-Spot-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/locomotion/risky_terrains/config/spot/spot_env_cfg.py>`__ |
| .. |position-obstacle-spot-link| replace:: `UW-Position-Obstacle-Spot-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/locomotion/advance_skills/config/spot/spot_env_cfg.py>`__ |
| .. |position-inv-slope-spot-link| replace:: `UW-Position-Inv-Slope-Spot-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/locomotion/advance_skills/config/spot/spot_env_cfg.py>`__ |
|
|
| .. |position-gap-spot| image:: ../_static/tasks/locomotion/spot_gap.jpg |
| .. |position-pit-spot| image:: ../_static/tasks/locomotion/spot_pit.jpg |
| .. |position-stepping-stone-spot| image:: ../_static/tasks/locomotion/spot_stepping_stone.jpg |
| .. |position-obstacle-spot| image:: ../_static/tasks/locomotion/spot_obstacle.jpg |
| .. |position-inv-slope-spot| image:: ../_static/tasks/locomotion/spot_slope.jpg |
|
|
|
|
| .. raw:: html |
|
|
| <br/> |
| <br/> |
| <br/> |
|
|
|
|
|
|
| Comprehensive List of Environments |
| ================================== |
|
|
|
|
| .. list-table:: |
| :widths: 33 25 19 25 |
|
|
| * - **Task Name** |
| - **Inference Task Name** |
| - **Workflow** |
| - **RL Library** |
| * - UW-Track-Goal-Ur5-v0 |
| - |
| - Manager Based |
| - **rsl_rl** (PPO) |
| * - UW-Track-Goal-Tycho-v0 |
| - |
| - Manager Based |
| - **rsl_rl** (PPO) |
| * - UW-Track-Goal-Xarm-Leap-v0 |
| - |
| - Manager Based |
| - **rsl_rl** (PPO) |
| * - UW-Nut-Thread-Franka-v0 |
| - |
| - Manager Based |
| - **rsl_rl** (PPO) |
| * - UW-Gear-Mesh-Franka-v0 |
| - |
| - Manager Based |
| - **rsl_rl** (PPO) |
| * - UW-Peg-Insert-Franka-v0 |
| - |
| - Manager Based |
| - **rsl_rl** (PPO) |
| * - UW-Position-Gap-Spot-v0 |
| - |
| - Manager Based |
| - **rsl_rl** (PPO) |
| * - UW-Position-Pit-Spot-v0 |
| - |
| - Manager Based |
| - **rsl_rl** (PPO) |
| * - UW-Position-Stepping-Stone-Spot-v0 |
| - |
| - Manager Based |
| - **rsl_rl** (PPO) |
| * - UW-Position-Obstacle-Spot-v0 |
| - |
| - Manager Based |
| - **rsl_rl** (PPO) |
| * - UW-Position-Inv-Slope-Spot-v0 |
| - |
| - Manager Based |
| - **rsl_rl** (PPO) |
| * - OmniReset-Ur5eRobotiq2f85-RelJointPos-State-v0 |
| - |
| - Manager Based |
| - **rsl_rl** (PPO) |
| * - OmniReset-Ur5eRobotiq2f85-RelCartesianOSC-State-v0 |
| - |
| - Manager Based |
| - **rsl_rl** (PPO) |
|
|
