.. _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 `__ .. |track-goal-tycho-link| replace:: `UW-Track-Goal-Tycho-v0 `__ .. |track-goal-xarm-leap-link| replace:: `UW-Track-Goal-Xarm-Leap-v0 `__ .. |ext-nut-thread-franka-link| replace:: `UW-Nut-Thread-Franka-v0 `__ .. |ext-gear-mesh-franka-link| replace:: `UW-Gear-Mesh-Franka-v0 `__ .. |ext-peg-insert-franka-link| replace:: `UW-Peg-Insert-Franka-v0 `__ .. |omnireset-ur5e-drawer-link| replace:: `OmniReset-Ur5eRobotiq2f85-RelCartesianOSC-State-v0 `__ .. |omnireset-ur5e-fbleg-link| replace:: `OmniReset-Ur5eRobotiq2f85-RelCartesianOSC-State-v0 `__ .. |omnireset-ur5e-peg-insert-link| replace:: `OmniReset-Ur5eRobotiq2f85-RelCartesianOSC-State-v0 `__ .. |omnireset-ur5e-rectangle-link| replace:: `OmniReset-Ur5eRobotiq2f85-RelCartesianOSC-State-v0 `__ .. |omnireset-ur5e-cupcake-link| replace:: `OmniReset-Ur5eRobotiq2f85-RelCartesianOSC-State-v0 `__ .. |omnireset-ur5e-cube-stack-link| replace:: `OmniReset-Ur5eRobotiq2f85-RelCartesianOSC-State-v0 `__ 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 `__ .. |position-pit-spot-link| replace:: `UW-Position-Pit-Spot-v0 `__ .. |position-stepping-stone-spot-link| replace:: `UW-Position-Stepping-Stone-Spot-v0 `__ .. |position-obstacle-spot-link| replace:: `UW-Position-Obstacle-Spot-v0 `__ .. |position-inv-slope-spot-link| replace:: `UW-Position-Inv-Slope-Spot-v0 `__ .. |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


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)