From fc9890c6727dd43e3c29d4c7e166e0275a30c539 Mon Sep 17 00:00:00 2001 From: Kelly Guo Date: Wed, 22 Apr 2026 22:19:06 +0000 Subject: [PATCH 1/5] Add Presets column to environment documentation tables Add a new 'Presets' column to all environment tables in the overview documentation page. This shows users which preset values (e.g., newton, physx) are available for each environment when using the presets=... CLI argument. Most environments support the 'newton' and 'physx' presets for switching between simulation backends. Environments without preset support show an empty cell. --- docs/source/overview/environments.rst | 566 ++++++++++++++++---------- 1 file changed, 343 insertions(+), 223 deletions(-) diff --git a/docs/source/overview/environments.rst b/docs/source/overview/environments.rst index 95c29a33e8ea..fe619d98df87 100644 --- a/docs/source/overview/environments.rst +++ b/docs/source/overview/environments.rst @@ -43,35 +43,35 @@ Classic Classic environments that are based on IsaacGymEnvs implementation of MuJoCo-style environments. .. table:: - :widths: 33 37 30 - - +------------------+-----------------------------+-------------------------------------------------------------------------+ - | World | Environment ID | Description | - +==================+=============================+=========================================================================+ - | |humanoid| | |humanoid-link| | Move towards a direction with the MuJoCo humanoid robot | - | | | | - | | |humanoid-direct-link| | | - +------------------+-----------------------------+-------------------------------------------------------------------------+ - | |ant| | |ant-link| | Move towards a direction with the MuJoCo ant robot | - | | | | - | | |ant-direct-link| | | - +------------------+-----------------------------+-------------------------------------------------------------------------+ - | |cartpole| | |cartpole-link| | Move the cart to keep the pole upwards in the classic cartpole control | - | | | | - | | |cartpole-direct-link| | | - +------------------+-----------------------------+-------------------------------------------------------------------------+ - | |cartpole| | |cartpole-rgb-link| | Move the cart to keep the pole upwards in the classic cartpole control | - | | | and perceptive inputs. Requires running with ``--enable_cameras``. | - | | |cartpole-depth-link| | | - | | | | - | | |cartpole-rgb-direct-link| | | - | | | | - | | |cartpole-depth-direct-link|| | - +------------------+-----------------------------+-------------------------------------------------------------------------+ - | |cartpole| | |cartpole-resnet-link| | Move the cart to keep the pole upwards in the classic cartpole control | - | | | based off of features extracted from perceptive inputs with pre-trained | - | | |cartpole-theia-link| | frozen vision encoders. Requires running with ``--enable_cameras``. | - +------------------+-----------------------------+-------------------------------------------------------------------------+ + :widths: 25 30 25 20 + + +------------------+-----------------------------+-------------------------------------------------------------------------+-----------------------+ + | World | Environment ID | Description | Presets | + +==================+=============================+=========================================================================+=======================+ + | |humanoid| | |humanoid-link| | Move towards a direction with the MuJoCo humanoid robot | ``newton``, ``physx`` | + | | | | | + | | |humanoid-direct-link| | | | + +------------------+-----------------------------+-------------------------------------------------------------------------+-----------------------+ + | |ant| | |ant-link| | Move towards a direction with the MuJoCo ant robot | ``newton``, ``physx`` | + | | | | | + | | |ant-direct-link| | | | + +------------------+-----------------------------+-------------------------------------------------------------------------+-----------------------+ + | |cartpole| | |cartpole-link| | Move the cart to keep the pole upwards in the classic cartpole control | ``newton``, ``physx`` | + | | | | | + | | |cartpole-direct-link| | | | + +------------------+-----------------------------+-------------------------------------------------------------------------+-----------------------+ + | |cartpole| | |cartpole-rgb-link| | Move the cart to keep the pole upwards in the classic cartpole control | ``newton``, ``physx`` | + | | | and perceptive inputs. Requires running with ``--enable_cameras``. | | + | | |cartpole-depth-link| | | | + | | | | | + | | |cartpole-rgb-direct-link| | | | + | | | | | + | | |cartpole-depth-direct-link|| | | + +------------------+-----------------------------+-------------------------------------------------------------------------+-----------------------+ + | |cartpole| | |cartpole-resnet-link| | Move the cart to keep the pole upwards in the classic cartpole control | ``newton``, ``physx`` | + | | | based off of features extracted from perceptive inputs with pre-trained | | + | | |cartpole-theia-link| | frozen vision encoders. Requires running with ``--enable_cameras``. | | + +------------------+-----------------------------+-------------------------------------------------------------------------+-----------------------+ .. |humanoid| image:: ../_static/tasks/classic/humanoid.jpg .. |ant| image:: ../_static/tasks/classic/ant.jpg @@ -105,83 +105,83 @@ for the lift-cube environment: * |lift-cube-ik-rel-link|: Franka arm with relative IK control .. table:: - :widths: 33 37 30 - - +-------------------------+------------------------------+-----------------------------------------------------------------------------+ - | World | Environment ID | Description | - +=========================+==============================+=============================================================================+ - | |reach-franka| | |reach-franka-link| | Move the end-effector to a sampled target pose with the Franka robot | - +-------------------------+------------------------------+-----------------------------------------------------------------------------+ - | |reach-ur10| | |reach-ur10-link| | Move the end-effector to a sampled target pose with the UR10 robot | - +-------------------------+------------------------------+-----------------------------------------------------------------------------+ - | |deploy-reach-ur10e| | |deploy-reach-ur10e-link| | Move the end-effector to a sampled target pose with the UR10e robot | - | | | This policy has been deployed to a real robot | - +-------------------------+------------------------------+-----------------------------------------------------------------------------+ - | |lift-cube| | |lift-cube-link| | Pick a cube and bring it to a sampled target position with the Franka robot | - +-------------------------+------------------------------+-----------------------------------------------------------------------------+ - | |stack-cube| | |stack-cube-link| | Stack three cubes (bottom to top: blue, red, green) with the Franka robot. | - | | | Blueprint env used for the NVIDIA Isaac GR00T blueprint for synthetic | - | | |stack-cube-bp-link| | manipulation motion generation | - +-------------------------+------------------------------+-----------------------------------------------------------------------------+ - | |surface-gripper| | |long-suction-link| | Stack three cubes (bottom to top: blue, red, green) | - | | | with the UR10 arm and long surface gripper | - | | |short-suction-link| | or short surface gripper. | - +-------------------------+------------------------------+-----------------------------------------------------------------------------+ - | |cabi-franka| | |cabi-franka-link| | Grasp the handle of a cabinet's drawer and open it with the Franka robot | - | | | | - | | |franka-direct-link| | | - +-------------------------+------------------------------+-----------------------------------------------------------------------------+ - | |cube-allegro| | |cube-allegro-link| | In-hand reorientation of a cube using Allegro hand | - | | | | - | | |allegro-direct-link| | | - +-------------------------+------------------------------+-----------------------------------------------------------------------------+ - | |cube-shadow| | |cube-shadow-link| | In-hand reorientation of a cube using Shadow hand | - | | | | - | | |cube-shadow-ff-link| | | - | | | | - | | |cube-shadow-lstm-link| | | - +-------------------------+------------------------------+-----------------------------------------------------------------------------+ - | |cube-shadow| | |cube-shadow-vis-link| | In-hand reorientation of a cube using Shadow hand using perceptive inputs. | - | | | Requires running with ``--enable_cameras``. | - +-------------------------+------------------------------+-----------------------------------------------------------------------------+ - | |gr1_pick_place| | |gr1_pick_place-link| | Pick up and place an object in a basket with a GR-1 humanoid robot | - +-------------------------+------------------------------+-----------------------------------------------------------------------------+ - | |gr1_pp_waist| | |gr1_pp_waist-link| | Pick up and place an object in a basket with a GR-1 humanoid robot | - | | | with waist degrees-of-freedom enables that provides a wider reach space. | - +-------------------------+------------------------------+-----------------------------------------------------------------------------+ - | |g1_pick_place| | |g1_pick_place-link| | Pick up and place an object in a basket with a Unitree G1 humanoid robot | - +-------------------------+------------------------------+-----------------------------------------------------------------------------+ - | |g1_pick_place_fixed| | |g1_pick_place_fixed-link| | Pick up and place an object in a basket with a Unitree G1 humanoid robot | - | | | with three-fingered hands. Robot is set up with the base fixed in place. | - +-------------------------+------------------------------+-----------------------------------------------------------------------------+ - | |g1_pick_place_lm| | |g1_pick_place_lm-link| | Pick up and place an object in a basket with a Unitree G1 humanoid robot | - | | | with three-fingered hands and in-place locomanipulation capabilities | - | | | enabled (i.e. Robot lower body balances in-place while upper body is | - | | | controlled via Inverse Kinematics). | - +-------------------------+------------------------------+-----------------------------------------------------------------------------+ - | |kuka-allegro-lift| | |kuka-allegro-lift-link| | Pick up a primitive shape on the table and lift it to target position. | - | | | Supports state, single-camera, and dual-camera observation modes via | - | | | ``presets=single_camera`` / ``presets=duo_camera`` (see RL table below). | - +-------------------------+------------------------------+-----------------------------------------------------------------------------+ - | |kuka-allegro-reorient| | |kuka-allegro-reorient-link| | Pick up a primitive shape on the table and orient it to target pose. | - | | | Supports state, single-camera, and dual-camera observation modes via | - | | | ``presets=single_camera`` / ``presets=duo_camera`` (see RL table below). | - +-------------------------+------------------------------+-----------------------------------------------------------------------------+ - | |galbot_stack| | |galbot_stack-link| | Stack three cubes (bottom to top: blue, red, green) with the left arm of | - | | | a Galbot humanoid robot | - +-------------------------+------------------------------+-----------------------------------------------------------------------------+ - | |agibot_place_mug| | |agibot_place_mug-link| | Pick up and place a mug upright with a Agibot A2D humanoid robot | - +-------------------------+------------------------------+-----------------------------------------------------------------------------+ - | |agibot_place_toy| | |agibot_place_toy-link| | Pick up and place an object in a box with a Agibot A2D humanoid robot | - +-------------------------+------------------------------+-----------------------------------------------------------------------------+ - | |reach_openarm_bi| | |reach_openarm_bi-link| | Move the end-effector to sampled target poses with the OpenArm robot | - +-------------------------+------------------------------+-----------------------------------------------------------------------------+ - | |reach_openarm_uni| | |reach_openarm_uni-link| | Move the end-effector to a sampled target pose with the OpenArm robot | - +-------------------------+------------------------------+-----------------------------------------------------------------------------+ - | |lift_openarm_uni| | |lift_openarm_uni-link| | Pick a cube and bring it to a sampled target position with the OpenArm robot| - +-------------------------+------------------------------+-----------------------------------------------------------------------------+ - | |cabi_openarm_uni| | |cabi_openarm_uni-link| | Grasp the handle of a cabinet's drawer and open it with the OpenArm robot | - +-------------------------+------------------------------+-----------------------------------------------------------------------------+ + :widths: 25 30 25 20 + + +-------------------------+------------------------------+-----------------------------------------------------------------------------+-----------------------+ + | World | Environment ID | Description | Presets | + +=========================+==============================+=============================================================================+=======================+ + | |reach-franka| | |reach-franka-link| | Move the end-effector to a sampled target pose with the Franka robot | ``newton``, ``physx`` | + +-------------------------+------------------------------+-----------------------------------------------------------------------------+-----------------------+ + | |reach-ur10| | |reach-ur10-link| | Move the end-effector to a sampled target pose with the UR10 robot | ``newton``, ``physx`` | + +-------------------------+------------------------------+-----------------------------------------------------------------------------+-----------------------+ + | |deploy-reach-ur10e| | |deploy-reach-ur10e-link| | Move the end-effector to a sampled target pose with the UR10e robot | | + | | | This policy has been deployed to a real robot | | + +-------------------------+------------------------------+-----------------------------------------------------------------------------+-----------------------+ + | |lift-cube| | |lift-cube-link| | Pick a cube and bring it to a sampled target position with the Franka robot | | + +-------------------------+------------------------------+-----------------------------------------------------------------------------+-----------------------+ + | |stack-cube| | |stack-cube-link| | Stack three cubes (bottom to top: blue, red, green) with the Franka robot. | | + | | | Blueprint env used for the NVIDIA Isaac GR00T blueprint for synthetic | | + | | |stack-cube-bp-link| | manipulation motion generation | | + +-------------------------+------------------------------+-----------------------------------------------------------------------------+-----------------------+ + | |surface-gripper| | |long-suction-link| | Stack three cubes (bottom to top: blue, red, green) | | + | | | with the UR10 arm and long surface gripper | | + | | |short-suction-link| | or short surface gripper. | | + +-------------------------+------------------------------+-----------------------------------------------------------------------------+-----------------------+ + | |cabi-franka| | |cabi-franka-link| | Grasp the handle of a cabinet's drawer and open it with the Franka robot | ``newton``, ``physx`` | + | | | | | + | | |franka-direct-link| | | | + +-------------------------+------------------------------+-----------------------------------------------------------------------------+-----------------------+ + | |cube-allegro| | |cube-allegro-link| | In-hand reorientation of a cube using Allegro hand | ``newton``, ``physx`` | + | | | | | + | | |allegro-direct-link| | | | + +-------------------------+------------------------------+-----------------------------------------------------------------------------+-----------------------+ + | |cube-shadow| | |cube-shadow-link| | In-hand reorientation of a cube using Shadow hand | ``newton``, ``physx`` | + | | | | | + | | |cube-shadow-ff-link| | | | + | | | | | + | | |cube-shadow-lstm-link| | | | + +-------------------------+------------------------------+-----------------------------------------------------------------------------+-----------------------+ + | |cube-shadow| | |cube-shadow-vis-link| | In-hand reorientation of a cube using Shadow hand using perceptive inputs. | ``newton``, ``physx`` | + | | | Requires running with ``--enable_cameras``. | | + +-------------------------+------------------------------+-----------------------------------------------------------------------------+-----------------------+ + | |gr1_pick_place| | |gr1_pick_place-link| | Pick up and place an object in a basket with a GR-1 humanoid robot | | + +-------------------------+------------------------------+-----------------------------------------------------------------------------+-----------------------+ + | |gr1_pp_waist| | |gr1_pp_waist-link| | Pick up and place an object in a basket with a GR-1 humanoid robot | | + | | | with waist degrees-of-freedom enables that provides a wider reach space. | | + +-------------------------+------------------------------+-----------------------------------------------------------------------------+-----------------------+ + | |g1_pick_place| | |g1_pick_place-link| | Pick up and place an object in a basket with a Unitree G1 humanoid robot | | + +-------------------------+------------------------------+-----------------------------------------------------------------------------+-----------------------+ + | |g1_pick_place_fixed| | |g1_pick_place_fixed-link| | Pick up and place an object in a basket with a Unitree G1 humanoid robot | | + | | | with three-fingered hands. Robot is set up with the base fixed in place. | | + +-------------------------+------------------------------+-----------------------------------------------------------------------------+-----------------------+ + | |g1_pick_place_lm| | |g1_pick_place_lm-link| | Pick up and place an object in a basket with a Unitree G1 humanoid robot | | + | | | with three-fingered hands and in-place locomanipulation capabilities | | + | | | enabled (i.e. Robot lower body balances in-place while upper body is | | + | | | controlled via Inverse Kinematics). | | + +-------------------------+------------------------------+-----------------------------------------------------------------------------+-----------------------+ + | |kuka-allegro-lift| | |kuka-allegro-lift-link| | Pick up a primitive shape on the table and lift it to target position. | ``newton``, ``physx`` | + | | | Supports state, single-camera, and dual-camera observation modes via | | + | | | ``presets=single_camera`` / ``presets=duo_camera`` (see RL table below). | | + +-------------------------+------------------------------+-----------------------------------------------------------------------------+-----------------------+ + | |kuka-allegro-reorient| | |kuka-allegro-reorient-link| | Pick up a primitive shape on the table and orient it to target pose. | ``newton``, ``physx`` | + | | | Supports state, single-camera, and dual-camera observation modes via | | + | | | ``presets=single_camera`` / ``presets=duo_camera`` (see RL table below). | | + +-------------------------+------------------------------+-----------------------------------------------------------------------------+-----------------------+ + | |galbot_stack| | |galbot_stack-link| | Stack three cubes (bottom to top: blue, red, green) with the left arm of | | + | | | a Galbot humanoid robot | | + +-------------------------+------------------------------+-----------------------------------------------------------------------------+-----------------------+ + | |agibot_place_mug| | |agibot_place_mug-link| | Pick up and place a mug upright with a Agibot A2D humanoid robot | | + +-------------------------+------------------------------+-----------------------------------------------------------------------------+-----------------------+ + | |agibot_place_toy| | |agibot_place_toy-link| | Pick up and place an object in a box with a Agibot A2D humanoid robot | | + +-------------------------+------------------------------+-----------------------------------------------------------------------------+-----------------------+ + | |reach_openarm_bi| | |reach_openarm_bi-link| | Move the end-effector to sampled target poses with the OpenArm robot | | + +-------------------------+------------------------------+-----------------------------------------------------------------------------+-----------------------+ + | |reach_openarm_uni| | |reach_openarm_uni-link| | Move the end-effector to a sampled target pose with the OpenArm robot | | + +-------------------------+------------------------------+-----------------------------------------------------------------------------+-----------------------+ + | |lift_openarm_uni| | |lift_openarm_uni-link| | Pick a cube and bring it to a sampled target position with the OpenArm robot| | + +-------------------------+------------------------------+-----------------------------------------------------------------------------+-----------------------+ + | |cabi_openarm_uni| | |cabi_openarm_uni-link| | Grasp the handle of a cabinet's drawer and open it with the OpenArm robot | | + +-------------------------+------------------------------+-----------------------------------------------------------------------------+-----------------------+ .. |reach-franka| image:: ../_static/tasks/manipulation/franka_reach.jpg .. |reach-ur10| image:: ../_static/tasks/manipulation/ur10_reach.jpg @@ -254,17 +254,17 @@ For example: * |factory-nut-link|: Nut-Bolt fastening with the Franka arm .. table:: - :widths: 33 37 30 - - +--------------------+-------------------------+-----------------------------------------------------------------------------+ - | World | Environment ID | Description | - +====================+=========================+=============================================================================+ - | |factory-peg| | |factory-peg-link| | Insert peg into the socket with the Franka robot | - +--------------------+-------------------------+-----------------------------------------------------------------------------+ - | |factory-gear| | |factory-gear-link| | Insert and mesh gear into the base with other gears, using the Franka robot | - +--------------------+-------------------------+-----------------------------------------------------------------------------+ - | |factory-nut| | |factory-nut-link| | Thread the nut onto the first 2 threads of the bolt, using the Franka robot | - +--------------------+-------------------------+-----------------------------------------------------------------------------+ + :widths: 25 30 25 20 + + +--------------------+-------------------------+-----------------------------------------------------------------------------+-----------------------+ + | World | Environment ID | Description | Presets | + +====================+=========================+=============================================================================+=======================+ + | |factory-peg| | |factory-peg-link| | Insert peg into the socket with the Franka robot | | + +--------------------+-------------------------+-----------------------------------------------------------------------------+-----------------------+ + | |factory-gear| | |factory-gear-link| | Insert and mesh gear into the base with other gears, using the Franka robot | | + +--------------------+-------------------------+-----------------------------------------------------------------------------+-----------------------+ + | |factory-nut| | |factory-nut-link| | Thread the nut onto the first 2 threads of the bolt, using the Franka robot | | + +--------------------+-------------------------+-----------------------------------------------------------------------------+-----------------------+ .. |factory-peg| image:: ../_static/tasks/factory/peg_insert.jpg .. |factory-gear| image:: ../_static/tasks/factory/gear_mesh.jpg @@ -316,15 +316,15 @@ We provide environments for both disassembly and assembly. * To evaluate an assembly policy, we run the command ``python source/isaaclab_tasks/isaaclab_tasks/direct/automate/run_w_id.py --assembly_id=ASSEMBLY_ID --checkpoint=CHECKPOINT --log_eval``. The evaluation results are stored in ``evaluation_{ASSEMBLY_ID}.h5``. .. table:: - :widths: 33 37 30 + :widths: 25 30 25 20 - +--------------------+-------------------------+-----------------------------------------------------------------------------+ - | World | Environment ID | Description | - +====================+=========================+=============================================================================+ - | |disassembly| | |disassembly-link| | Lift a plug out of the socket with the Franka robot | - +--------------------+-------------------------+-----------------------------------------------------------------------------+ - | |assembly| | |assembly-link| | Insert a plug into its corresponding socket with the Franka robot | - +--------------------+-------------------------+-----------------------------------------------------------------------------+ + +--------------------+-------------------------+-----------------------------------------------------------------------------+-----------------------+ + | World | Environment ID | Description | Presets | + +====================+=========================+=============================================================================+=======================+ + | |disassembly| | |disassembly-link| | Lift a plug out of the socket with the Franka robot | | + +--------------------+-------------------------+-----------------------------------------------------------------------------+-----------------------+ + | |assembly| | |assembly-link| | Insert a plug into its corresponding socket with the Franka robot | | + +--------------------+-------------------------+-----------------------------------------------------------------------------+-----------------------+ .. |assembly| image:: ../_static/tasks/automate/00004.jpg .. |disassembly| image:: ../_static/tasks/automate/01053_disassembly.jpg @@ -349,17 +349,17 @@ These tasks share the same task configurations and control options. You can swit * |forge-nut-link|: Nut-Bolt fastening with the Franka arm .. table:: - :widths: 33 37 30 - - +--------------------+-------------------------+-----------------------------------------------------------------------------+ - | World | Environment ID | Description | - +====================+=========================+=============================================================================+ - | |forge-peg| | |forge-peg-link| | Insert peg into the socket with the Franka robot | - +--------------------+-------------------------+-----------------------------------------------------------------------------+ - | |forge-gear| | |forge-gear-link| | Insert and mesh gear into the base with other gears, using the Franka robot | - +--------------------+-------------------------+-----------------------------------------------------------------------------+ - | |forge-nut| | |forge-nut-link| | Thread the nut onto the first 2 threads of the bolt, using the Franka robot | - +--------------------+-------------------------+-----------------------------------------------------------------------------+ + :widths: 25 30 25 20 + + +--------------------+-------------------------+-----------------------------------------------------------------------------+-----------------------+ + | World | Environment ID | Description | Presets | + +====================+=========================+=============================================================================+=======================+ + | |forge-peg| | |forge-peg-link| | Insert peg into the socket with the Franka robot | | + +--------------------+-------------------------+-----------------------------------------------------------------------------+-----------------------+ + | |forge-gear| | |forge-gear-link| | Insert and mesh gear into the base with other gears, using the Franka robot | | + +--------------------+-------------------------+-----------------------------------------------------------------------------+-----------------------+ + | |forge-nut| | |forge-nut-link| | Thread the nut onto the first 2 threads of the bolt, using the Franka robot | | + +--------------------+-------------------------+-----------------------------------------------------------------------------+-----------------------+ .. |forge-peg| image:: ../_static/tasks/factory/peg_insert.jpg .. |forge-gear| image:: ../_static/tasks/factory/gear_mesh.jpg @@ -376,55 +376,55 @@ Locomotion Environments based on legged locomotion tasks. .. table:: - :widths: 33 37 30 - - +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+ - | World | Environment ID | Description | - +==============================+==============================================+==============================================================================+ - | |velocity-flat-anymal-b| | |velocity-flat-anymal-b-link| | Track a velocity command on flat terrain with the Anymal B robot | - +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+ - | |velocity-rough-anymal-b| | |velocity-rough-anymal-b-link| | Track a velocity command on rough terrain with the Anymal B robot | - +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+ - | |velocity-flat-anymal-c| | |velocity-flat-anymal-c-link| | Track a velocity command on flat terrain with the Anymal C robot | - | | | | - | | |velocity-flat-anymal-c-direct-link| | | - +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+ - | |velocity-rough-anymal-c| | |velocity-rough-anymal-c-link| | Track a velocity command on rough terrain with the Anymal C robot | - | | | | - | | |velocity-rough-anymal-c-direct-link| | | - +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+ - | |velocity-flat-anymal-d| | |velocity-flat-anymal-d-link| | Track a velocity command on flat terrain with the Anymal D robot | - +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+ - | |velocity-rough-anymal-d| | |velocity-rough-anymal-d-link| | Track a velocity command on rough terrain with the Anymal D robot | - +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+ - | |velocity-flat-unitree-a1| | |velocity-flat-unitree-a1-link| | Track a velocity command on flat terrain with the Unitree A1 robot | - +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+ - | |velocity-rough-unitree-a1| | |velocity-rough-unitree-a1-link| | Track a velocity command on rough terrain with the Unitree A1 robot | - +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+ - | |velocity-flat-unitree-go1| | |velocity-flat-unitree-go1-link| | Track a velocity command on flat terrain with the Unitree Go1 robot | - +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+ - | |velocity-rough-unitree-go1| | |velocity-rough-unitree-go1-link| | Track a velocity command on rough terrain with the Unitree Go1 robot | - +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+ - | |velocity-flat-unitree-go2| | |velocity-flat-unitree-go2-link| | Track a velocity command on flat terrain with the Unitree Go2 robot | - +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+ - | |velocity-rough-unitree-go2| | |velocity-rough-unitree-go2-link| | Track a velocity command on rough terrain with the Unitree Go2 robot | - +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+ - | |velocity-flat-spot| | |velocity-flat-spot-link| | Track a velocity command on flat terrain with the Boston Dynamics Spot robot | - +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+ - | |velocity-flat-h1| | |velocity-flat-h1-link| | Track a velocity command on flat terrain with the Unitree H1 robot | - +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+ - | |velocity-rough-h1| | |velocity-rough-h1-link| | Track a velocity command on rough terrain with the Unitree H1 robot | - +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+ - | |velocity-flat-g1| | |velocity-flat-g1-link| | Track a velocity command on flat terrain with the Unitree G1 robot | - +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+ - | |velocity-rough-g1| | |velocity-rough-g1-link| | Track a velocity command on rough terrain with the Unitree G1 robot | - +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+ - | |velocity-flat-digit| | |velocity-flat-digit-link| | Track a velocity command on flat terrain with the Agility Digit robot | - +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+ - | |velocity-rough-digit| | |velocity-rough-digit-link| | Track a velocity command on rough terrain with the Agility Digit robot | - +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+ - | |tracking-loco-manip-digit| | |tracking-loco-manip-digit-link| | Track a root velocity and hand pose command with the Agility Digit robot | - +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+ + :widths: 25 30 25 20 + + +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+-----------------------+ + | World | Environment ID | Description | Presets | + +==============================+==============================================+==============================================================================+=======================+ + | |velocity-flat-anymal-b| | |velocity-flat-anymal-b-link| | Track a velocity command on flat terrain with the Anymal B robot | ``newton``, ``physx`` | + +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+-----------------------+ + | |velocity-rough-anymal-b| | |velocity-rough-anymal-b-link| | Track a velocity command on rough terrain with the Anymal B robot | ``newton``, ``physx`` | + +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+-----------------------+ + | |velocity-flat-anymal-c| | |velocity-flat-anymal-c-link| | Track a velocity command on flat terrain with the Anymal C robot | ``newton``, ``physx`` | + | | | | | + | | |velocity-flat-anymal-c-direct-link| | | | + +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+-----------------------+ + | |velocity-rough-anymal-c| | |velocity-rough-anymal-c-link| | Track a velocity command on rough terrain with the Anymal C robot | ``newton``, ``physx`` | + | | | | | + | | |velocity-rough-anymal-c-direct-link| | | | + +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+-----------------------+ + | |velocity-flat-anymal-d| | |velocity-flat-anymal-d-link| | Track a velocity command on flat terrain with the Anymal D robot | ``newton``, ``physx`` | + +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+-----------------------+ + | |velocity-rough-anymal-d| | |velocity-rough-anymal-d-link| | Track a velocity command on rough terrain with the Anymal D robot | ``newton``, ``physx`` | + +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+-----------------------+ + | |velocity-flat-unitree-a1| | |velocity-flat-unitree-a1-link| | Track a velocity command on flat terrain with the Unitree A1 robot | ``newton``, ``physx`` | + +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+-----------------------+ + | |velocity-rough-unitree-a1| | |velocity-rough-unitree-a1-link| | Track a velocity command on rough terrain with the Unitree A1 robot | ``newton``, ``physx`` | + +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+-----------------------+ + | |velocity-flat-unitree-go1| | |velocity-flat-unitree-go1-link| | Track a velocity command on flat terrain with the Unitree Go1 robot | ``newton``, ``physx`` | + +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+-----------------------+ + | |velocity-rough-unitree-go1| | |velocity-rough-unitree-go1-link| | Track a velocity command on rough terrain with the Unitree Go1 robot | ``newton``, ``physx`` | + +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+-----------------------+ + | |velocity-flat-unitree-go2| | |velocity-flat-unitree-go2-link| | Track a velocity command on flat terrain with the Unitree Go2 robot | ``newton``, ``physx`` | + +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+-----------------------+ + | |velocity-rough-unitree-go2| | |velocity-rough-unitree-go2-link| | Track a velocity command on rough terrain with the Unitree Go2 robot | ``newton``, ``physx`` | + +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+-----------------------+ + | |velocity-flat-spot| | |velocity-flat-spot-link| | Track a velocity command on flat terrain with the Boston Dynamics Spot robot | ``newton``, ``physx`` | + +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+-----------------------+ + | |velocity-flat-h1| | |velocity-flat-h1-link| | Track a velocity command on flat terrain with the Unitree H1 robot | ``newton``, ``physx`` | + +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+-----------------------+ + | |velocity-rough-h1| | |velocity-rough-h1-link| | Track a velocity command on rough terrain with the Unitree H1 robot | ``newton``, ``physx`` | + +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+-----------------------+ + | |velocity-flat-g1| | |velocity-flat-g1-link| | Track a velocity command on flat terrain with the Unitree G1 robot | ``newton``, ``physx`` | + +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+-----------------------+ + | |velocity-rough-g1| | |velocity-rough-g1-link| | Track a velocity command on rough terrain with the Unitree G1 robot | ``newton``, ``physx`` | + +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+-----------------------+ + | |velocity-flat-digit| | |velocity-flat-digit-link| | Track a velocity command on flat terrain with the Agility Digit robot | ``newton``, ``physx`` | + +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+-----------------------+ + | |velocity-rough-digit| | |velocity-rough-digit-link| | Track a velocity command on rough terrain with the Agility Digit robot | ``newton``, ``physx`` | + +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+-----------------------+ + | |tracking-loco-manip-digit| | |tracking-loco-manip-digit-link| | Track a root velocity and hand pose command with the Agility Digit robot | ``newton``, ``physx`` | + +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+-----------------------+ .. |velocity-flat-anymal-b-link| replace:: `Isaac-Velocity-Flat-Anymal-B-v0 `__ .. |velocity-rough-anymal-b-link| replace:: `Isaac-Velocity-Rough-Anymal-B-v0 `__ @@ -484,13 +484,13 @@ Navigation ~~~~~~~~~~ .. table:: - :widths: 33 37 30 + :widths: 25 30 25 20 - +----------------+---------------------+-----------------------------------------------------------------------------+ - | World | Environment ID | Description | - +================+=====================+=============================================================================+ - | |anymal_c_nav| | |anymal_c_nav-link| | Navigate towards a target x-y position and heading with the ANYmal C robot. | - +----------------+---------------------+-----------------------------------------------------------------------------+ + +----------------+---------------------+-----------------------------------------------------------------------------+-----------------------+ + | World | Environment ID | Description | Presets | + +================+=====================+=============================================================================+=======================+ + | |anymal_c_nav| | |anymal_c_nav-link| | Navigate towards a target x-y position and heading with the ANYmal C robot. | ``newton``, ``physx`` | + +----------------+---------------------+-----------------------------------------------------------------------------+-----------------------+ .. |anymal_c_nav-link| replace:: `Isaac-Navigation-Flat-Anymal-C-v0 `__ @@ -510,13 +510,13 @@ Multirotor .. |arl_robot_track_position_state_based| image:: ../_static/tasks/drone_arl/arl_robot_1_track_position_state_based.jpg .. table:: - :widths: 33 37 30 + :widths: 25 30 25 20 - +----------------------------------------+---------------------------------------------+----------------------------------------------------------------------------------------+ - | World | Environment ID | Description | - +========================================+=============================================+========================================================================================+ - | |arl_robot_track_position_state_based| | |arl_robot_track_position_state_based-link| | Setpoint position control for the ARL robot using the track_position_state_based task. | - +----------------------------------------+---------------------------------------------+----------------------------------------------------------------------------------------+ + +----------------------------------------+---------------------------------------------+----------------------------------------------------------------------------------------+-----------------------+ + | World | Environment ID | Description | Presets | + +========================================+=============================================+========================================================================================+=======================+ + | |arl_robot_track_position_state_based| | |arl_robot_track_position_state_based-link| | Setpoint position control for the ARL robot using the track_position_state_based task. | | + +----------------------------------------+---------------------------------------------+----------------------------------------------------------------------------------------+-----------------------+ Others @@ -532,19 +532,19 @@ Others For evaluation, the play script's command line input ``--real-time`` allows the interaction loop between the environment and the agent to run in real time, if possible. .. table:: - :widths: 33 37 30 - - +----------------+---------------------------+-----------------------------------------------------------------------------+ - | World | Environment ID | Description | - +================+===========================+=============================================================================+ - | |quadcopter| | |quadcopter-link| | Fly and hover the Crazyflie copter at a goal point by applying thrust. | - +----------------+---------------------------+-----------------------------------------------------------------------------+ - | |humanoid_amp| | |humanoid_amp_dance-link| | Move a humanoid robot by imitating different pre-recorded human animations | - | | | (Adversarial Motion Priors). | - | | |humanoid_amp_run-link| | | - | | | | - | | |humanoid_amp_walk-link| | | - +----------------+---------------------------+-----------------------------------------------------------------------------+ + :widths: 25 30 25 20 + + +----------------+---------------------------+-----------------------------------------------------------------------------+-----------------------+ + | World | Environment ID | Description | Presets | + +================+===========================+=============================================================================+=======================+ + | |quadcopter| | |quadcopter-link| | Fly and hover the Crazyflie copter at a goal point by applying thrust. | | + +----------------+---------------------------+-----------------------------------------------------------------------------+-----------------------+ + | |humanoid_amp| | |humanoid_amp_dance-link| | Move a humanoid robot by imitating different pre-recorded human animations | | + | | | (Adversarial Motion Priors). | | + | | |humanoid_amp_run-link| | | | + | | | | | + | | |humanoid_amp_walk-link| | | | + +----------------+---------------------------+-----------------------------------------------------------------------------+-----------------------+ .. |quadcopter-link| replace:: `Isaac-Quadcopter-Direct-v0 `__ .. |humanoid_amp_dance-link| replace:: `Isaac-Humanoid-AMP-Dance-Direct-v0 `__ @@ -684,13 +684,13 @@ Classic ~~~~~~~ .. table:: - :widths: 33 37 30 + :widths: 25 30 25 20 - +------------------------+------------------------------------+-----------------------------------------------------------------------------------------------------------------------+ - | World | Environment ID | Description | - +========================+====================================+=======================================================================================================================+ - | |cart-double-pendulum| | |cart-double-pendulum-direct-link| | Move the cart and the pendulum to keep the last one upwards in the classic inverted double pendulum on a cart control | - +------------------------+------------------------------------+-----------------------------------------------------------------------------------------------------------------------+ + +------------------------+------------------------------------+-----------------------------------------------------------------------------------------------------------------------+-----------------------+ + | World | Environment ID | Description | Presets | + +========================+====================================+=======================================================================================================================+=======================+ + | |cart-double-pendulum| | |cart-double-pendulum-direct-link| | Move the cart and the pendulum to keep the last one upwards in the classic inverted double pendulum on a cart control | | + +------------------------+------------------------------------+-----------------------------------------------------------------------------------------------------------------------+-----------------------+ .. |cart-double-pendulum| image:: ../_static/tasks/classic/cart_double_pendulum.jpg @@ -702,13 +702,13 @@ Manipulation Environments based on fixed-arm manipulation tasks. .. table:: - :widths: 33 37 30 + :widths: 25 30 25 20 - +----------------------+--------------------------------+--------------------------------------------------------+ - | World | Environment ID | Description | - +======================+================================+========================================================+ - | |shadow-hand-over| | |shadow-hand-over-direct-link| | Passing an object from one hand over to the other hand | - +----------------------+--------------------------------+--------------------------------------------------------+ + +----------------------+--------------------------------+--------------------------------------------------------+-----------------------+ + | World | Environment ID | Description | Presets | + +======================+================================+========================================================+=======================+ + | |shadow-hand-over| | |shadow-hand-over-direct-link| | Passing an object from one hand over to the other hand | | + +----------------------+--------------------------------+--------------------------------------------------------+-----------------------+ .. |shadow-hand-over| image:: ../_static/tasks/manipulation/shadow_hand_over.jpg @@ -724,308 +724,383 @@ provided when running ``play.py`` or any inferencing workflows. These tasks prov inferencing, including reading from an already trained checkpoint and disabling runtime perturbations used for training. .. list-table:: - :widths: 33 25 19 25 + :widths: 28 20 13 22 17 * - **Task Name** - **Inference Task Name** - **Workflow** - **RL Library** + - **Presets** * - Isaac-Ant-Direct-v0 - - Direct - **rl_games** (PPO), **rsl_rl** (PPO), **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Ant-v0 - - Manager Based - **rsl_rl** (PPO), **rl_games** (PPO), **skrl** (PPO), **sb3** (PPO) + - ``newton``, ``physx`` * - Isaac-Cart-Double-Pendulum-Direct-v0 - - Direct - **rl_games** (PPO), **skrl** (IPPO, PPO, MAPPO) + - * - Isaac-Cartpole-Camera-Showcase-Box-Box-Direct-v0 (Requires running with ``--enable_cameras``) - - Direct - **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Cartpole-Camera-Showcase-Box-Discrete-Direct-v0 (Requires running with ``--enable_cameras``) - - Direct - **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Cartpole-Camera-Showcase-Box-MultiDiscrete-Direct-v0 (Requires running with ``--enable_cameras``) - - Direct - **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Cartpole-Camera-Showcase-Dict-Box-Direct-v0 (Requires running with ``--enable_cameras``) - - Direct - **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Cartpole-Camera-Showcase-Dict-Discrete-Direct-v0 (Requires running with ``--enable_cameras``) - - Direct - **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Cartpole-Camera-Showcase-Dict-MultiDiscrete-Direct-v0 (Requires running with ``--enable_cameras``) - - Direct - **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Cartpole-Camera-Showcase-Tuple-Box-Direct-v0 (Requires running with ``--enable_cameras``) - - Direct - **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Cartpole-Camera-Showcase-Tuple-Discrete-Direct-v0 (Requires running with ``--enable_cameras``) - - Direct - **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Cartpole-Camera-Showcase-Tuple-MultiDiscrete-Direct-v0 (Requires running with ``--enable_cameras``) - - Direct - **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Cartpole-Depth-Camera-Direct-v0 (Requires running with ``--enable_cameras``) - - Direct - **rl_games** (PPO), **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Cartpole-Depth-v0 (Requires running with ``--enable_cameras``) - - Manager Based - **rl_games** (PPO) + - ``newton``, ``physx`` * - Isaac-Cartpole-Direct-v0 - - Direct - **rl_games** (PPO), **rsl_rl** (PPO), **skrl** (PPO), **sb3** (PPO) + - ``newton``, ``physx`` * - Isaac-Cartpole-RGB-Camera-Direct-v0 (Requires running with ``--enable_cameras``) - - Direct - **rl_games** (PPO), **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Cartpole-RGB-ResNet18-v0 (Requires running with ``--enable_cameras``) - - Manager Based - **rl_games** (PPO) + - ``newton``, ``physx`` * - Isaac-Cartpole-RGB-TheiaTiny-v0 (Requires running with ``--enable_cameras``) - - Manager Based - **rl_games** (PPO) + - ``newton``, ``physx`` * - Isaac-Cartpole-RGB-v0 (Requires running with ``--enable_cameras``) - - Manager Based - **rl_games** (PPO) + - ``newton``, ``physx`` * - Isaac-Cartpole-Showcase-Box-Box-Direct-v0 - - Direct - **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Cartpole-Showcase-Box-Discrete-Direct-v0 - - Direct - **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Cartpole-Showcase-Box-MultiDiscrete-Direct-v0 - - Direct - **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Cartpole-Showcase-Dict-Box-Direct-v0 - - Direct - **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Cartpole-Showcase-Dict-Discrete-Direct-v0 - - Direct - **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Cartpole-Showcase-Dict-MultiDiscrete-Direct-v0 - - Direct - **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Cartpole-Showcase-Discrete-Box-Direct-v0 - - Direct - **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Cartpole-Showcase-Discrete-Discrete-Direct-v0 - - Direct - **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Cartpole-Showcase-Discrete-MultiDiscrete-Direct-v0 - - Direct - **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Cartpole-Showcase-MultiDiscrete-Box-Direct-v0 - - Direct - **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Cartpole-Showcase-MultiDiscrete-Discrete-Direct-v0 - - Direct - **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Cartpole-Showcase-MultiDiscrete-MultiDiscrete-Direct-v0 - - Direct - **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Cartpole-Showcase-Tuple-Box-Direct-v0 - - Direct - **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Cartpole-Showcase-Tuple-Discrete-Direct-v0 - - Direct - **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Cartpole-Showcase-Tuple-MultiDiscrete-Direct-v0 - - Direct - **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Cartpole-v0 - - Manager Based - **rl_games** (PPO), **rsl_rl** (PPO), **skrl** (PPO), **sb3** (PPO) + - ``newton``, ``physx`` * - Isaac-Factory-GearMesh-Direct-v0 - - Direct - **rl_games** (PPO) + - * - Isaac-Factory-NutThread-Direct-v0 - - Direct - **rl_games** (PPO) + - * - Isaac-Factory-PegInsert-Direct-v0 - - Direct - **rl_games** (PPO) + - * - Isaac-AutoMate-Assembly-Direct-v0 - - Direct - **rl_games** (PPO) + - * - Isaac-AutoMate-Disassembly-Direct-v0 - - Direct - + - * - Isaac-Forge-GearMesh-Direct-v0 - - Direct - **rl_games** (PPO) + - * - Isaac-Forge-NutThread-Direct-v0 - - Direct - **rl_games** (PPO) + - * - Isaac-Forge-PegInsert-Direct-v0 - - Direct - **rl_games** (PPO) + - * - Isaac-Franka-Cabinet-Direct-v0 - - Direct - **rl_games** (PPO), **rsl_rl** (PPO), **skrl** (PPO) + - * - Isaac-Humanoid-AMP-Dance-Direct-v0 - - Direct - **skrl** (AMP) + - * - Isaac-Humanoid-AMP-Run-Direct-v0 - - Direct - **skrl** (AMP) + - * - Isaac-Humanoid-AMP-Walk-Direct-v0 - - Direct - **skrl** (AMP) + - * - Isaac-Humanoid-Direct-v0 - - Direct - **rl_games** (PPO), **rsl_rl** (PPO), **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Humanoid-v0 - - Manager Based - **rsl_rl** (PPO), **rl_games** (PPO), **skrl** (PPO), **sb3** (PPO) + - ``newton``, ``physx`` * - Isaac-Lift-Cube-Franka-IK-Abs-v0 - - Manager Based - + - * - Isaac-Lift-Cube-Franka-IK-Rel-v0 - - Manager Based - + - * - Isaac-Lift-Cube-Franka-v0 - Isaac-Lift-Cube-Franka-Play-v0 - Manager Based - **rsl_rl** (PPO), **skrl** (PPO), **rl_games** (PPO), **sb3** (PPO) + - * - Isaac-Lift-Teddy-Bear-Franka-IK-Abs-v0 - - Manager Based - + - * - Isaac-Tracking-LocoManip-Digit-v0 - Isaac-Tracking-LocoManip-Digit-Play-v0 - Manager Based - **rsl_rl** (PPO) + - ``newton``, ``physx`` * - Isaac-Navigation-Flat-Anymal-C-v0 - Isaac-Navigation-Flat-Anymal-C-Play-v0 - Manager Based - **rsl_rl** (PPO), **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Open-Drawer-Franka-IK-Abs-v0 - - Manager Based - + - * - Isaac-Open-Drawer-Franka-IK-Rel-v0 - - Manager Based - + - * - Isaac-Open-Drawer-Franka-v0 - Isaac-Open-Drawer-Franka-Play-v0 - Manager Based - **rsl_rl** (PPO), **rl_games** (PPO), **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Quadcopter-Direct-v0 - - Direct - **rl_games** (PPO), **rsl_rl** (PPO), **skrl** (PPO) + - * - Isaac-Reach-Franka-IK-Abs-v0 - - Manager Based - + - * - Isaac-Reach-Franka-IK-Rel-v0 - - Manager Based - + - * - Isaac-Reach-Franka-OSC-v0 - Isaac-Reach-Franka-OSC-Play-v0 - Manager Based - **rsl_rl** (PPO) + - ``newton``, ``physx`` * - Isaac-Reach-Franka-v0 - Isaac-Reach-Franka-Play-v0 - Manager Based - **rl_games** (PPO), **rsl_rl** (PPO), **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Reach-UR10-v0 - Isaac-Reach-UR10-Play-v0 - Manager Based - **rl_games** (PPO), **rsl_rl** (PPO), **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Deploy-Reach-UR10e-v0 - Isaac-Deploy-Reach-UR10e-Play-v0 - Manager Based - **rsl_rl** (PPO) + - * - Isaac-Repose-Cube-Allegro-Direct-v0 - - Direct - **rl_games** (PPO), **rsl_rl** (PPO), **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Repose-Cube-Allegro-NoVelObs-v0 - Isaac-Repose-Cube-Allegro-NoVelObs-Play-v0 - Manager Based - **rsl_rl** (PPO), **rl_games** (PPO), **skrl** (PPO) + - * - Isaac-Repose-Cube-Allegro-v0 - Isaac-Repose-Cube-Allegro-Play-v0 - Manager Based - **rsl_rl** (PPO), **rl_games** (PPO), **skrl** (PPO) + - * - Isaac-Repose-Cube-Shadow-Direct-v0 - - Direct - **rl_games** (PPO), **rsl_rl** (PPO), **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Repose-Cube-Shadow-OpenAI-FF-Direct-v0 - - Direct - **rl_games** (FF), **rsl_rl** (PPO), **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Repose-Cube-Shadow-OpenAI-LSTM-Direct-v0 - - Direct - **rl_games** (LSTM) + - ``newton``, ``physx`` * - Isaac-Repose-Cube-Shadow-Vision-Direct-v0 (Requires running with ``--enable_cameras``) - Isaac-Repose-Cube-Shadow-Vision-Direct-Play-v0 (Requires running with ``--enable_cameras``) - Direct - **rsl_rl** (PPO), **rl_games** (VISION) + - ``newton``, ``physx`` * - Isaac-Shadow-Hand-Over-Direct-v0 - - Direct - **rl_games** (PPO), **skrl** (IPPO, PPO, MAPPO) + - * - Isaac-Stack-Cube-Franka-IK-Rel-v0 - - Manager Based - + - * - Isaac-Dexsuite-Kuka-Allegro-Lift-v0 Camera variants (requires ``--enable_cameras``): @@ -1041,6 +1116,7 @@ inferencing, including reading from an already trained checkpoint and disabling - Isaac-Dexsuite-Kuka-Allegro-Lift-Play-v0 - Manager Based - **rl_games** (PPO), **rsl_rl** (PPO) + - ``newton``, ``physx`` * - Isaac-Dexsuite-Kuka-Allegro-Reorient-v0 Camera variants (requires ``--enable_cameras``): @@ -1053,176 +1129,220 @@ inferencing, including reading from an already trained checkpoint and disabling - Isaac-Dexsuite-Kuka-Allegro-Reorient-Play-v0 - Manager Based - **rl_games** (PPO), **rsl_rl** (PPO) + - ``newton``, ``physx`` * - Isaac-Stack-Cube-Franka-v0 - - Manager Based - + - * - Isaac-Stack-Cube-Instance-Randomize-Franka-IK-Rel-v0 - - Manager Based - + - * - Isaac-Stack-Cube-Instance-Randomize-Franka-v0 - - Manager Based - + - * - Isaac-PickPlace-G1-InspireFTP-Abs-v0 - - Manager Based - + - * - Isaac-Stack-Cube-UR10-Long-Suction-IK-Rel-v0 - - Manager Based - + - * - Isaac-Stack-Cube-UR10-Short-Suction-IK-Rel-v0 - - Manager Based - + - * - Isaac-Stack-Cube-Galbot-Left-Arm-Gripper-RmpFlow-v0 - - Manager Based - + - * - Isaac-Stack-Cube-Galbot-Right-Arm-Suction-RmpFlow-v0 - - Manager Based - + - * - Isaac-Stack-Cube-Galbot-Left-Arm-Gripper-Visuomotor-v0 - Isaac-Stack-Cube-Galbot-Left-Arm-Gripper-Visuomotor-Play-v0 - Manager Based - + - * - Isaac-Place-Mug-Agibot-Left-Arm-RmpFlow-v0 - - Manager Based - + - * - Isaac-Place-Toy2Box-Agibot-Right-Arm-RmpFlow-v0 - - Manager Based - + - * - Isaac-Stack-Cube-Galbot-Left-Arm-Gripper-RmpFlow-v0 - - Manager Based - + - * - Isaac-Stack-Cube-Galbot-Right-Arm-Suction-RmpFlow-v0 - - Manager Based - + - * - Isaac-Stack-Cube-Galbot-Left-Arm-Gripper-Visuomotor-v0 - Isaac-Stack-Cube-Galbot-Left-Arm-Gripper-Visuomotor-Play-v0 - Manager Based - + - * - Isaac-Place-Mug-Agibot-Left-Arm-RmpFlow-v0 - - Manager Based - + - * - Isaac-Place-Toy2Box-Agibot-Right-Arm-RmpFlow-v0 - - Manager Based - + - * - Isaac-Velocity-Flat-Anymal-B-v0 - Isaac-Velocity-Flat-Anymal-B-Play-v0 - Manager Based - **rsl_rl** (PPO), **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Velocity-Flat-Anymal-C-Direct-v0 - - Direct - **rl_games** (PPO), **rsl_rl** (PPO), **skrl** (PPO) + - * - Isaac-Velocity-Flat-Anymal-C-v0 - Isaac-Velocity-Flat-Anymal-C-Play-v0 - Manager Based - **rsl_rl** (PPO), **rl_games** (PPO), **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Velocity-Flat-Anymal-D-v0 - Isaac-Velocity-Flat-Anymal-D-Play-v0 - Manager Based - **rsl_rl** (PPO), **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Velocity-Flat-Cassie-v0 - Isaac-Velocity-Flat-Cassie-Play-v0 - Manager Based - **rsl_rl** (PPO), **skrl** (PPO) + - * - Isaac-Velocity-Flat-Digit-v0 - Isaac-Velocity-Flat-Digit-Play-v0 - Manager Based - **rsl_rl** (PPO) + - ``newton``, ``physx`` * - Isaac-Velocity-Flat-G1-v0 - Isaac-Velocity-Flat-G1-Play-v0 - Manager Based - **rsl_rl** (PPO), **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Velocity-Flat-H1-v0 - Isaac-Velocity-Flat-H1-Play-v0 - Manager Based - **rsl_rl** (PPO), **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Velocity-Flat-Spot-v0 - Isaac-Velocity-Flat-Spot-Play-v0 - Manager Based - **rsl_rl** (PPO), **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Velocity-Flat-Unitree-A1-v0 - Isaac-Velocity-Flat-Unitree-A1-Play-v0 - Manager Based - **rsl_rl** (PPO), **skrl** (PPO), **sb3** (PPO) + - ``newton``, ``physx`` * - Isaac-Velocity-Flat-Unitree-Go1-v0 - Isaac-Velocity-Flat-Unitree-Go1-Play-v0 - Manager Based - **rsl_rl** (PPO), **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Velocity-Flat-Unitree-Go2-v0 - Isaac-Velocity-Flat-Unitree-Go2-Play-v0 - Manager Based - **rsl_rl** (PPO), **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Velocity-Rough-Anymal-B-v0 - Isaac-Velocity-Rough-Anymal-B-Play-v0 - Manager Based - **rsl_rl** (PPO), **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Velocity-Rough-Anymal-C-Direct-v0 - - Direct - **rl_games** (PPO), **rsl_rl** (PPO), **skrl** (PPO) + - * - Isaac-Velocity-Rough-Anymal-C-v0 - Isaac-Velocity-Rough-Anymal-C-Play-v0 - Manager Based - **rl_games** (PPO), **rsl_rl** (PPO), **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Velocity-Rough-Anymal-D-v0 - Isaac-Velocity-Rough-Anymal-D-Play-v0 - Manager Based - **rsl_rl** (PPO), **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Velocity-Rough-Cassie-v0 - Isaac-Velocity-Rough-Cassie-Play-v0 - Manager Based - **rsl_rl** (PPO), **skrl** (PPO) + - * - Isaac-Velocity-Rough-Digit-v0 - Isaac-Velocity-Rough-Digit-Play-v0 - Manager Based - **rsl_rl** (PPO) + - ``newton``, ``physx`` * - Isaac-Velocity-Rough-G1-v0 - Isaac-Velocity-Rough-G1-Play-v0 - Manager Based - **rsl_rl** (PPO), **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Velocity-Rough-H1-v0 - Isaac-Velocity-Rough-H1-Play-v0 - Manager Based - **rsl_rl** (PPO), **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Velocity-Rough-Unitree-A1-v0 - Isaac-Velocity-Rough-Unitree-A1-Play-v0 - Manager Based - **rsl_rl** (PPO), **skrl** (PPO), **sb3** (PPO) + - ``newton``, ``physx`` * - Isaac-Velocity-Rough-Unitree-Go1-v0 - Isaac-Velocity-Rough-Unitree-Go1-Play-v0 - Manager Based - **rsl_rl** (PPO), **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Velocity-Rough-Unitree-Go2-v0 - Isaac-Velocity-Rough-Unitree-Go2-Play-v0 - Manager Based - **rsl_rl** (PPO), **skrl** (PPO) + - ``newton``, ``physx`` * - Isaac-Reach-OpenArm-Bi-v0 - Isaac-Reach-OpenArm-Bi-Play-v0 - Manager Based - **rsl_rl** (PPO), **rl_games** (PPO) + - * - Isaac-Reach-OpenArm-v0 - Isaac-Reach-OpenArm-Play-v0 - Manager Based - **rsl_rl** (PPO), **skrl** (PPO), **rl_games** (PPO) + - * - Isaac-Lift-Cube-OpenArm-v0 - Isaac-Lift-Cube-OpenArm-Play-v0 - Manager Based - **rsl_rl** (PPO), **rl_games** (PPO) + - * - Isaac-Open-Drawer-OpenArm-v0 - Isaac-Open-Drawer-OpenArm-Play-v0 - Manager Based - **rsl_rl** (PPO), **rl_games** (PPO) + - From 582c8aadab3c66eb745446a8729d3fffeb6d47f5 Mon Sep 17 00:00:00 2001 From: Kelly Guo Date: Wed, 22 Apr 2026 23:40:15 +0000 Subject: [PATCH 2/5] Fix Sphinx build warnings by adding gymnasium to autodoc_mock_imports The gymnasium package (v1.3.0) has a circular import issue in its __init__.py that prevents autodoc from importing any module that depends on it. This caused 55 warnings during doc builds: - 27 autodoc import failures (isaaclab.envs, isaaclab_mimic, isaaclab_rl.sb3) - 12 autosummary import failures - 9 'don't know which module' warnings (downstream of datagen import failure) - 2 toctree warnings (orphaned rst files from failed autosummary generation) Adding 'gymnasium' to autodoc_mock_imports resolves all warnings, consistent with the existing approach for other heavy dependencies (torch, numpy, scipy, etc.). --- docs/conf.py | 1 + 1 file changed, 1 insertion(+) diff --git a/docs/conf.py b/docs/conf.py index 2fc604aad10d..510fa3bc9280 100644 --- a/docs/conf.py +++ b/docs/conf.py @@ -186,6 +186,7 @@ "omni.timeline", "omni.ui", "gym", + "gymnasium", "skrl", "stable_baselines3", "rsl_rl", From 5d6afd9b18363ab52ec69f25ac3ee65305283d38 Mon Sep 17 00:00:00 2001 From: Kelly Guo Date: Thu, 23 Apr 2026 00:18:09 +0000 Subject: [PATCH 3/5] Complete Presets column with renderer, camera, and resolution presets Grid tables: Add ovphysx for Direct classic envs, renderer presets (newton_renderer, ovrtx_renderer) for camera-based envs, and full camera/resolution presets for Shadow Hand Vision and Dexsuite. List-table (Table 12): Add complete preset names per environment: - Direct classic: newton, physx, ovphysx - Camera showcase: newton_renderer, ovrtx_renderer, isaacsim_rtx_renderer - Shadow Hand Vision: physics + renderer + all camera data types - Dexsuite: physics + scene + renderer + all resolution variants (rgb/depth/albedo/semantic_segmentation/simple_shading at 64/128/256) --- docs/source/overview/environments.rst | 108 ++++++++++++++++---------- 1 file changed, 66 insertions(+), 42 deletions(-) diff --git a/docs/source/overview/environments.rst b/docs/source/overview/environments.rst index fe619d98df87..cc7c0f11c16b 100644 --- a/docs/source/overview/environments.rst +++ b/docs/source/overview/environments.rst @@ -49,20 +49,20 @@ Classic environments that are based on IsaacGymEnvs implementation of MuJoCo-sty | World | Environment ID | Description | Presets | +==================+=============================+=========================================================================+=======================+ | |humanoid| | |humanoid-link| | Move towards a direction with the MuJoCo humanoid robot | ``newton``, ``physx`` | - | | | | | + | | | | ``ovphysx`` | | | |humanoid-direct-link| | | | +------------------+-----------------------------+-------------------------------------------------------------------------+-----------------------+ | |ant| | |ant-link| | Move towards a direction with the MuJoCo ant robot | ``newton``, ``physx`` | - | | | | | + | | | | ``ovphysx`` | | | |ant-direct-link| | | | +------------------+-----------------------------+-------------------------------------------------------------------------+-----------------------+ | |cartpole| | |cartpole-link| | Move the cart to keep the pole upwards in the classic cartpole control | ``newton``, ``physx`` | - | | | | | + | | | | ``ovphysx`` | | | |cartpole-direct-link| | | | +------------------+-----------------------------+-------------------------------------------------------------------------+-----------------------+ | |cartpole| | |cartpole-rgb-link| | Move the cart to keep the pole upwards in the classic cartpole control | ``newton``, ``physx`` | - | | | and perceptive inputs. Requires running with ``--enable_cameras``. | | - | | |cartpole-depth-link| | | | + | | | and perceptive inputs. Requires running with ``--enable_cameras``. | ``newton_renderer``, | + | | |cartpole-depth-link| | | ``ovrtx_renderer`` | | | | | | | | |cartpole-rgb-direct-link| | | | | | | | | @@ -142,7 +142,13 @@ for the lift-cube environment: | | |cube-shadow-lstm-link| | | | +-------------------------+------------------------------+-----------------------------------------------------------------------------+-----------------------+ | |cube-shadow| | |cube-shadow-vis-link| | In-hand reorientation of a cube using Shadow hand using perceptive inputs. | ``newton``, ``physx`` | - | | | Requires running with ``--enable_cameras``. | | + | | | Requires running with ``--enable_cameras``. | ``newton_renderer``, | + | | | | ``ovrtx_renderer``, | + | | | | ``rgb``, ``depth``, | + | | | | ``albedo``, ``full``, | + | | | | ``semantic_`` | + | | | | ``segmentation``, | + | | | | ``simple_shading_*`` | +-------------------------+------------------------------+-----------------------------------------------------------------------------+-----------------------+ | |gr1_pick_place| | |gr1_pick_place-link| | Pick up and place an object in a basket with a GR-1 humanoid robot | | +-------------------------+------------------------------+-----------------------------------------------------------------------------+-----------------------+ @@ -160,12 +166,30 @@ for the lift-cube environment: | | | controlled via Inverse Kinematics). | | +-------------------------+------------------------------+-----------------------------------------------------------------------------+-----------------------+ | |kuka-allegro-lift| | |kuka-allegro-lift-link| | Pick up a primitive shape on the table and lift it to target position. | ``newton``, ``physx`` | - | | | Supports state, single-camera, and dual-camera observation modes via | | - | | | ``presets=single_camera`` / ``presets=duo_camera`` (see RL table below). | | + | | | Supports state, single-camera, and dual-camera observation modes via | ``single_camera``, | + | | | ``presets=single_camera`` / ``presets=duo_camera`` (see RL table below). | ``duo_camera``, | + | | | | ``newton_renderer``, | + | | | | ``ovrtx_renderer``, | + | | | | ``rgb{64,128,256}``, | + | | | | ``depth{..}``, | + | | | | ``albedo{..}``, | + | | | | ``semantic_`` | + | | | | ``segmentation{..}``, | + | | | | ``simple_shading_*`` | + | | | | ``{64,128,256}`` | +-------------------------+------------------------------+-----------------------------------------------------------------------------+-----------------------+ | |kuka-allegro-reorient| | |kuka-allegro-reorient-link| | Pick up a primitive shape on the table and orient it to target pose. | ``newton``, ``physx`` | - | | | Supports state, single-camera, and dual-camera observation modes via | | - | | | ``presets=single_camera`` / ``presets=duo_camera`` (see RL table below). | | + | | | Supports state, single-camera, and dual-camera observation modes via | ``single_camera``, | + | | | ``presets=single_camera`` / ``presets=duo_camera`` (see RL table below). | ``duo_camera``, | + | | | | ``newton_renderer``, | + | | | | ``ovrtx_renderer``, | + | | | | ``rgb{64,128,256}``, | + | | | | ``depth{..}``, | + | | | | ``albedo{..}``, | + | | | | ``semantic_`` | + | | | | ``segmentation{..}``, | + | | | | ``simple_shading_*`` | + | | | | ``{64,128,256}`` | +-------------------------+------------------------------+-----------------------------------------------------------------------------+-----------------------+ | |galbot_stack| | |galbot_stack-link| | Stack three cubes (bottom to top: blue, red, green) with the left arm of | | | | | a Galbot humanoid robot | | @@ -735,7 +759,7 @@ inferencing, including reading from an already trained checkpoint and disabling - - Direct - **rl_games** (PPO), **rsl_rl** (PPO), **skrl** (PPO) - - ``newton``, ``physx`` + - ``newton``, ``physx``, ``ovphysx`` * - Isaac-Ant-v0 - - Manager Based @@ -750,52 +774,52 @@ inferencing, including reading from an already trained checkpoint and disabling - - Direct - **skrl** (PPO) - - ``newton``, ``physx`` + - ``newton_renderer``, ``ovrtx_renderer``, ``isaacsim_rtx_renderer`` * - Isaac-Cartpole-Camera-Showcase-Box-Discrete-Direct-v0 (Requires running with ``--enable_cameras``) - - Direct - **skrl** (PPO) - - ``newton``, ``physx`` + - ``newton_renderer``, ``ovrtx_renderer``, ``isaacsim_rtx_renderer`` * - Isaac-Cartpole-Camera-Showcase-Box-MultiDiscrete-Direct-v0 (Requires running with ``--enable_cameras``) - - Direct - **skrl** (PPO) - - ``newton``, ``physx`` + - ``newton_renderer``, ``ovrtx_renderer``, ``isaacsim_rtx_renderer`` * - Isaac-Cartpole-Camera-Showcase-Dict-Box-Direct-v0 (Requires running with ``--enable_cameras``) - - Direct - **skrl** (PPO) - - ``newton``, ``physx`` + - ``newton_renderer``, ``ovrtx_renderer``, ``isaacsim_rtx_renderer`` * - Isaac-Cartpole-Camera-Showcase-Dict-Discrete-Direct-v0 (Requires running with ``--enable_cameras``) - - Direct - **skrl** (PPO) - - ``newton``, ``physx`` + - ``newton_renderer``, ``ovrtx_renderer``, ``isaacsim_rtx_renderer`` * - Isaac-Cartpole-Camera-Showcase-Dict-MultiDiscrete-Direct-v0 (Requires running with ``--enable_cameras``) - - Direct - **skrl** (PPO) - - ``newton``, ``physx`` + - ``newton_renderer``, ``ovrtx_renderer``, ``isaacsim_rtx_renderer`` * - Isaac-Cartpole-Camera-Showcase-Tuple-Box-Direct-v0 (Requires running with ``--enable_cameras``) - - Direct - **skrl** (PPO) - - ``newton``, ``physx`` + - ``newton_renderer``, ``ovrtx_renderer``, ``isaacsim_rtx_renderer`` * - Isaac-Cartpole-Camera-Showcase-Tuple-Discrete-Direct-v0 (Requires running with ``--enable_cameras``) - - Direct - **skrl** (PPO) - - ``newton``, ``physx`` + - ``newton_renderer``, ``ovrtx_renderer``, ``isaacsim_rtx_renderer`` * - Isaac-Cartpole-Camera-Showcase-Tuple-MultiDiscrete-Direct-v0 (Requires running with ``--enable_cameras``) - - Direct - **skrl** (PPO) - - ``newton``, ``physx`` + - ``newton_renderer``, ``ovrtx_renderer``, ``isaacsim_rtx_renderer`` * - Isaac-Cartpole-Depth-Camera-Direct-v0 (Requires running with ``--enable_cameras``) - - Direct - **rl_games** (PPO), **skrl** (PPO) - - ``newton``, ``physx`` + - ``newton_renderer``, ``ovrtx_renderer``, ``isaacsim_rtx_renderer`` * - Isaac-Cartpole-Depth-v0 (Requires running with ``--enable_cameras``) - - Manager Based @@ -805,12 +829,12 @@ inferencing, including reading from an already trained checkpoint and disabling - - Direct - **rl_games** (PPO), **rsl_rl** (PPO), **skrl** (PPO), **sb3** (PPO) - - ``newton``, ``physx`` + - ``newton``, ``physx``, ``ovphysx`` * - Isaac-Cartpole-RGB-Camera-Direct-v0 (Requires running with ``--enable_cameras``) - - Direct - **rl_games** (PPO), **skrl** (PPO) - - ``newton``, ``physx`` + - ``newton_renderer``, ``ovrtx_renderer``, ``isaacsim_rtx_renderer`` * - Isaac-Cartpole-RGB-ResNet18-v0 (Requires running with ``--enable_cameras``) - - Manager Based @@ -830,77 +854,77 @@ inferencing, including reading from an already trained checkpoint and disabling - - Direct - **skrl** (PPO) - - ``newton``, ``physx`` + - ``newton``, ``physx``, ``ovphysx`` * - Isaac-Cartpole-Showcase-Box-Discrete-Direct-v0 - - Direct - **skrl** (PPO) - - ``newton``, ``physx`` + - ``newton``, ``physx``, ``ovphysx`` * - Isaac-Cartpole-Showcase-Box-MultiDiscrete-Direct-v0 - - Direct - **skrl** (PPO) - - ``newton``, ``physx`` + - ``newton``, ``physx``, ``ovphysx`` * - Isaac-Cartpole-Showcase-Dict-Box-Direct-v0 - - Direct - **skrl** (PPO) - - ``newton``, ``physx`` + - ``newton``, ``physx``, ``ovphysx`` * - Isaac-Cartpole-Showcase-Dict-Discrete-Direct-v0 - - Direct - **skrl** (PPO) - - ``newton``, ``physx`` + - ``newton``, ``physx``, ``ovphysx`` * - Isaac-Cartpole-Showcase-Dict-MultiDiscrete-Direct-v0 - - Direct - **skrl** (PPO) - - ``newton``, ``physx`` + - ``newton``, ``physx``, ``ovphysx`` * - Isaac-Cartpole-Showcase-Discrete-Box-Direct-v0 - - Direct - **skrl** (PPO) - - ``newton``, ``physx`` + - ``newton``, ``physx``, ``ovphysx`` * - Isaac-Cartpole-Showcase-Discrete-Discrete-Direct-v0 - - Direct - **skrl** (PPO) - - ``newton``, ``physx`` + - ``newton``, ``physx``, ``ovphysx`` * - Isaac-Cartpole-Showcase-Discrete-MultiDiscrete-Direct-v0 - - Direct - **skrl** (PPO) - - ``newton``, ``physx`` + - ``newton``, ``physx``, ``ovphysx`` * - Isaac-Cartpole-Showcase-MultiDiscrete-Box-Direct-v0 - - Direct - **skrl** (PPO) - - ``newton``, ``physx`` + - ``newton``, ``physx``, ``ovphysx`` * - Isaac-Cartpole-Showcase-MultiDiscrete-Discrete-Direct-v0 - - Direct - **skrl** (PPO) - - ``newton``, ``physx`` + - ``newton``, ``physx``, ``ovphysx`` * - Isaac-Cartpole-Showcase-MultiDiscrete-MultiDiscrete-Direct-v0 - - Direct - **skrl** (PPO) - - ``newton``, ``physx`` + - ``newton``, ``physx``, ``ovphysx`` * - Isaac-Cartpole-Showcase-Tuple-Box-Direct-v0 - - Direct - **skrl** (PPO) - - ``newton``, ``physx`` + - ``newton``, ``physx``, ``ovphysx`` * - Isaac-Cartpole-Showcase-Tuple-Discrete-Direct-v0 - - Direct - **skrl** (PPO) - - ``newton``, ``physx`` + - ``newton``, ``physx``, ``ovphysx`` * - Isaac-Cartpole-Showcase-Tuple-MultiDiscrete-Direct-v0 - - Direct - **skrl** (PPO) - - ``newton``, ``physx`` + - ``newton``, ``physx``, ``ovphysx`` * - Isaac-Cartpole-v0 - - Manager Based @@ -970,7 +994,7 @@ inferencing, including reading from an already trained checkpoint and disabling - - Direct - **rl_games** (PPO), **rsl_rl** (PPO), **skrl** (PPO) - - ``newton``, ``physx`` + - ``newton``, ``physx``, ``ovphysx`` * - Isaac-Humanoid-v0 - - Manager Based @@ -1090,7 +1114,7 @@ inferencing, including reading from an already trained checkpoint and disabling - Isaac-Repose-Cube-Shadow-Vision-Direct-Play-v0 (Requires running with ``--enable_cameras``) - Direct - **rsl_rl** (PPO), **rl_games** (VISION) - - ``newton``, ``physx`` + - ``newton``, ``physx``, ``newton_renderer``, ``ovrtx_renderer``, ``isaacsim_rtx_renderer``, ``rgb``, ``depth``, ``albedo``, ``full``, ``semantic_segmentation``, ``simple_shading_constant_diffuse``, ``simple_shading_diffuse_mdl``, ``simple_shading_full_mdl`` * - Isaac-Shadow-Hand-Over-Direct-v0 - - Direct @@ -1116,7 +1140,7 @@ inferencing, including reading from an already trained checkpoint and disabling - Isaac-Dexsuite-Kuka-Allegro-Lift-Play-v0 - Manager Based - **rl_games** (PPO), **rsl_rl** (PPO) - - ``newton``, ``physx`` + - ``newton``, ``physx``, ``single_camera``, ``duo_camera``, ``state``, ``newton_renderer``, ``ovrtx_renderer``, ``isaacsim_rtx_renderer``, ``rgb64``, ``rgb128``, ``rgb256``, ``depth64``, ``depth128``, ``depth256``, ``albedo64``, ``albedo128``, ``albedo256``, ``semantic_segmentation64``, ``semantic_segmentation128``, ``semantic_segmentation256``, ``simple_shading_constant_diffuse64``, ``simple_shading_constant_diffuse128``, ``simple_shading_constant_diffuse256``, ``simple_shading_diffuse_mdl64``, ``simple_shading_diffuse_mdl128``, ``simple_shading_diffuse_mdl256``, ``simple_shading_full_mdl64``, ``simple_shading_full_mdl128``, ``simple_shading_full_mdl256`` * - Isaac-Dexsuite-Kuka-Allegro-Reorient-v0 Camera variants (requires ``--enable_cameras``): @@ -1129,7 +1153,7 @@ inferencing, including reading from an already trained checkpoint and disabling - Isaac-Dexsuite-Kuka-Allegro-Reorient-Play-v0 - Manager Based - **rl_games** (PPO), **rsl_rl** (PPO) - - ``newton``, ``physx`` + - ``newton``, ``physx``, ``single_camera``, ``duo_camera``, ``state``, ``newton_renderer``, ``ovrtx_renderer``, ``isaacsim_rtx_renderer``, ``rgb64``, ``rgb128``, ``rgb256``, ``depth64``, ``depth128``, ``depth256``, ``albedo64``, ``albedo128``, ``albedo256``, ``semantic_segmentation64``, ``semantic_segmentation128``, ``semantic_segmentation256``, ``simple_shading_constant_diffuse64``, ``simple_shading_constant_diffuse128``, ``simple_shading_constant_diffuse256``, ``simple_shading_diffuse_mdl64``, ``simple_shading_diffuse_mdl128``, ``simple_shading_diffuse_mdl256``, ``simple_shading_full_mdl64``, ``simple_shading_full_mdl128``, ``simple_shading_full_mdl256`` * - Isaac-Stack-Cube-Franka-v0 - - Manager Based From 8943406715a486960a9c173a70c195c90830ce3a Mon Sep 17 00:00:00 2001 From: Kelly Guo Date: Thu, 23 Apr 2026 00:28:48 +0000 Subject: [PATCH 4/5] Replace old Cartpole camera envs with Camera-Presets-Direct task Replace the four individual cartpole camera environment entries (Isaac-Cartpole-RGB-v0, Isaac-Cartpole-Depth-v0, Isaac-Cartpole-RGB-Camera-Direct-v0, Isaac-Cartpole-Depth-Camera-Direct-v0) with the new unified Isaac-Cartpole-Camera-Presets-Direct-v0 task. The new task selects camera data type via the preset system (presets=rgb, presets=depth, presets=albedo, etc.) rather than requiring separate registered environments per data type. Grid table: Single row with all available presets listed. List-table: Single entry with complete preset names. --- docs/source/overview/environments.rst | 39 ++++++++------------------- 1 file changed, 11 insertions(+), 28 deletions(-) diff --git a/docs/source/overview/environments.rst b/docs/source/overview/environments.rst index cc7c0f11c16b..715afc376233 100644 --- a/docs/source/overview/environments.rst +++ b/docs/source/overview/environments.rst @@ -60,13 +60,14 @@ Classic environments that are based on IsaacGymEnvs implementation of MuJoCo-sty | | | | ``ovphysx`` | | | |cartpole-direct-link| | | | +------------------+-----------------------------+-------------------------------------------------------------------------+-----------------------+ - | |cartpole| | |cartpole-rgb-link| | Move the cart to keep the pole upwards in the classic cartpole control | ``newton``, ``physx`` | - | | | and perceptive inputs. Requires running with ``--enable_cameras``. | ``newton_renderer``, | - | | |cartpole-depth-link| | | ``ovrtx_renderer`` | - | | | | | - | | |cartpole-rgb-direct-link| | | | - | | | | | - | | |cartpole-depth-direct-link|| | | + | |cartpole| | |cartpole-camera-presets| | Move the cart to keep the pole upwards in the classic cartpole control | ``newton``, ``physx`` | + | | | and perceptive inputs. Select data type via ``presets=``. Requires | ``newton_renderer``, | + | | | running with ``--enable_cameras``. | ``ovrtx_renderer``, | + | | | | ``rgb``, ``depth``, | + | | | | ``albedo``, | + | | | | ``semantic_`` | + | | | | ``segmentation``, | + | | | | ``simple_shading_*`` | +------------------+-----------------------------+-------------------------------------------------------------------------+-----------------------+ | |cartpole| | |cartpole-resnet-link| | Move the cart to keep the pole upwards in the classic cartpole control | ``newton``, ``physx`` | | | | based off of features extracted from perceptive inputs with pre-trained | | @@ -80,8 +81,7 @@ Classic environments that are based on IsaacGymEnvs implementation of MuJoCo-sty .. |humanoid-link| replace:: `Isaac-Humanoid-v0 `__ .. |ant-link| replace:: `Isaac-Ant-v0 `__ .. |cartpole-link| replace:: `Isaac-Cartpole-v0 `__ -.. |cartpole-rgb-link| replace:: `Isaac-Cartpole-RGB-v0 `__ -.. |cartpole-depth-link| replace:: `Isaac-Cartpole-Depth-v0 `__ +.. |cartpole-camera-presets| replace:: `Isaac-Cartpole-Camera-Presets-Direct-v0 `__ .. |cartpole-resnet-link| replace:: `Isaac-Cartpole-RGB-ResNet18-v0 `__ .. |cartpole-theia-link| replace:: `Isaac-Cartpole-RGB-TheiaTiny-v0 `__ @@ -89,8 +89,6 @@ Classic environments that are based on IsaacGymEnvs implementation of MuJoCo-sty .. |humanoid-direct-link| replace:: `Isaac-Humanoid-Direct-v0 `__ .. |ant-direct-link| replace:: `Isaac-Ant-Direct-v0 `__ .. |cartpole-direct-link| replace:: `Isaac-Cartpole-Direct-v0 `__ -.. |cartpole-rgb-direct-link| replace:: `Isaac-Cartpole-RGB-Camera-Direct-v0 `__ -.. |cartpole-depth-direct-link| replace:: `Isaac-Cartpole-Depth-Camera-Direct-v0 `__ Manipulation ~~~~~~~~~~~~ @@ -815,26 +813,16 @@ inferencing, including reading from an already trained checkpoint and disabling - Direct - **skrl** (PPO) - ``newton_renderer``, ``ovrtx_renderer``, ``isaacsim_rtx_renderer`` - * - Isaac-Cartpole-Depth-Camera-Direct-v0 (Requires running with ``--enable_cameras``) + * - Isaac-Cartpole-Camera-Presets-Direct-v0 (Requires running with ``--enable_cameras``) - - Direct - **rl_games** (PPO), **skrl** (PPO) - - ``newton_renderer``, ``ovrtx_renderer``, ``isaacsim_rtx_renderer`` - * - Isaac-Cartpole-Depth-v0 (Requires running with ``--enable_cameras``) - - - - Manager Based - - **rl_games** (PPO) - - ``newton``, ``physx`` + - ``newton``, ``physx``, ``newton_renderer``, ``ovrtx_renderer``, ``isaacsim_rtx_renderer``, ``rgb``, ``depth``, ``albedo``, ``semantic_segmentation``, ``simple_shading_constant_diffuse``, ``simple_shading_diffuse_mdl``, ``simple_shading_full_mdl`` * - Isaac-Cartpole-Direct-v0 - - Direct - **rl_games** (PPO), **rsl_rl** (PPO), **skrl** (PPO), **sb3** (PPO) - ``newton``, ``physx``, ``ovphysx`` - * - Isaac-Cartpole-RGB-Camera-Direct-v0 (Requires running with ``--enable_cameras``) - - - - Direct - - **rl_games** (PPO), **skrl** (PPO) - - ``newton_renderer``, ``ovrtx_renderer``, ``isaacsim_rtx_renderer`` * - Isaac-Cartpole-RGB-ResNet18-v0 (Requires running with ``--enable_cameras``) - - Manager Based @@ -845,11 +833,6 @@ inferencing, including reading from an already trained checkpoint and disabling - Manager Based - **rl_games** (PPO) - ``newton``, ``physx`` - * - Isaac-Cartpole-RGB-v0 (Requires running with ``--enable_cameras``) - - - - Manager Based - - **rl_games** (PPO) - - ``newton``, ``physx`` * - Isaac-Cartpole-Showcase-Box-Box-Direct-v0 - - Direct From 7059b0e1b455656e5ac4ae7f5e4a0cdb0e222e3b Mon Sep 17 00:00:00 2001 From: Kelly Guo Date: Thu, 23 Apr 2026 00:43:51 +0000 Subject: [PATCH 5/5] Convert all environment doc links to relative paths Replace 78 absolute GitHub links (github.com/isaac-sim/IsaacLab/blob/main/...) with relative paths (../../../source/...) so links work on any branch without depending on files existing on main. --- docs/source/overview/environments.rst | 158 +++++++++++++------------- 1 file changed, 79 insertions(+), 79 deletions(-) diff --git a/docs/source/overview/environments.rst b/docs/source/overview/environments.rst index 715afc376233..80c12abb522e 100644 --- a/docs/source/overview/environments.rst +++ b/docs/source/overview/environments.rst @@ -78,17 +78,17 @@ Classic environments that are based on IsaacGymEnvs implementation of MuJoCo-sty .. |ant| image:: ../_static/tasks/classic/ant.jpg .. |cartpole| image:: ../_static/tasks/classic/cartpole.jpg -.. |humanoid-link| replace:: `Isaac-Humanoid-v0 `__ -.. |ant-link| replace:: `Isaac-Ant-v0 `__ -.. |cartpole-link| replace:: `Isaac-Cartpole-v0 `__ -.. |cartpole-camera-presets| replace:: `Isaac-Cartpole-Camera-Presets-Direct-v0 `__ -.. |cartpole-resnet-link| replace:: `Isaac-Cartpole-RGB-ResNet18-v0 `__ -.. |cartpole-theia-link| replace:: `Isaac-Cartpole-RGB-TheiaTiny-v0 `__ +.. |humanoid-link| replace:: `Isaac-Humanoid-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/humanoid/humanoid_env_cfg.py>`__ +.. |ant-link| replace:: `Isaac-Ant-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/ant/ant_env_cfg.py>`__ +.. |cartpole-link| replace:: `Isaac-Cartpole-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/cartpole/cartpole_env_cfg.py>`__ +.. |cartpole-camera-presets| replace:: `Isaac-Cartpole-Camera-Presets-Direct-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/cartpole_camera_presets_env_cfg.py>`__ +.. |cartpole-resnet-link| replace:: `Isaac-Cartpole-RGB-ResNet18-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/cartpole/cartpole_camera_env_cfg.py>`__ +.. |cartpole-theia-link| replace:: `Isaac-Cartpole-RGB-TheiaTiny-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/cartpole/cartpole_camera_env_cfg.py>`__ -.. |humanoid-direct-link| replace:: `Isaac-Humanoid-Direct-v0 `__ -.. |ant-direct-link| replace:: `Isaac-Ant-Direct-v0 `__ -.. |cartpole-direct-link| replace:: `Isaac-Cartpole-Direct-v0 `__ +.. |humanoid-direct-link| replace:: `Isaac-Humanoid-Direct-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/direct/humanoid/humanoid_env.py>`__ +.. |ant-direct-link| replace:: `Isaac-Ant-Direct-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/direct/ant/ant_env.py>`__ +.. |cartpole-direct-link| replace:: `Isaac-Cartpole-Direct-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/cartpole_env.py>`__ Manipulation ~~~~~~~~~~~~ @@ -229,38 +229,38 @@ for the lift-cube environment: .. |lift_openarm_uni| image:: ../_static/tasks/manipulation/openarm_uni_lift.jpg .. |cabi_openarm_uni| image:: ../_static/tasks/manipulation/openarm_uni_open_drawer.jpg -.. |reach-franka-link| replace:: `Isaac-Reach-Franka-v0 `__ -.. |reach-ur10-link| replace:: `Isaac-Reach-UR10-v0 `__ -.. |deploy-reach-ur10e-link| replace:: `Isaac-Deploy-Reach-UR10e-v0 `__ -.. |lift-cube-link| replace:: `Isaac-Lift-Cube-Franka-v0 `__ -.. |lift-cube-ik-abs-link| replace:: `Isaac-Lift-Cube-Franka-IK-Abs-v0 `__ -.. |lift-cube-ik-rel-link| replace:: `Isaac-Lift-Cube-Franka-IK-Rel-v0 `__ -.. |cabi-franka-link| replace:: `Isaac-Open-Drawer-Franka-v0 `__ -.. |franka-direct-link| replace:: `Isaac-Franka-Cabinet-Direct-v0 `__ -.. |cube-allegro-link| replace:: `Isaac-Repose-Cube-Allegro-v0 `__ -.. |allegro-direct-link| replace:: `Isaac-Repose-Cube-Allegro-Direct-v0 `__ -.. |stack-cube-link| replace:: `Isaac-Stack-Cube-Franka-v0 `__ -.. |stack-cube-bp-link| replace:: `Isaac-Stack-Cube-Franka-IK-Rel-Blueprint-v0 `__ -.. |gr1_pick_place-link| replace:: `Isaac-PickPlace-GR1T2-Abs-v0 `__ -.. |g1_pick_place-link| replace:: `Isaac-PickPlace-G1-InspireFTP-Abs-v0 `__ -.. |g1_pick_place_fixed-link| replace:: `Isaac-PickPlace-FixedBaseUpperBodyIK-G1-Abs-v0 `__ -.. |g1_pick_place_lm-link| replace:: `Isaac-PickPlace-Locomanipulation-G1-Abs-v0 `__ -.. |long-suction-link| replace:: `Isaac-Stack-Cube-UR10-Long-Suction-IK-Rel-v0 `__ -.. |short-suction-link| replace:: `Isaac-Stack-Cube-UR10-Short-Suction-IK-Rel-v0 `__ -.. |gr1_pp_waist-link| replace:: `Isaac-PickPlace-GR1T2-WaistEnabled-Abs-v0 `__ -.. |galbot_stack-link| replace:: `Isaac-Stack-Cube-Galbot-Left-Arm-Gripper-RmpFlow-v0 `__ -.. |kuka-allegro-lift-link| replace:: `Isaac-Dexsuite-Kuka-Allegro-Lift-v0 `__ -.. |kuka-allegro-reorient-link| replace:: `Isaac-Dexsuite-Kuka-Allegro-Reorient-v0 `__ -.. |cube-shadow-link| replace:: `Isaac-Repose-Cube-Shadow-Direct-v0 `__ -.. |cube-shadow-ff-link| replace:: `Isaac-Repose-Cube-Shadow-OpenAI-FF-Direct-v0 `__ -.. |cube-shadow-lstm-link| replace:: `Isaac-Repose-Cube-Shadow-OpenAI-LSTM-Direct-v0 `__ -.. |cube-shadow-vis-link| replace:: `Isaac-Repose-Cube-Shadow-Vision-Direct-v0 `__ -.. |agibot_place_mug-link| replace:: `Isaac-Place-Mug-Agibot-Left-Arm-RmpFlow-v0 `__ -.. |agibot_place_toy-link| replace:: `Isaac-Place-Toy2Box-Agibot-Right-Arm-RmpFlow-v0 `__ -.. |reach_openarm_bi-link| replace:: `Isaac-Reach-OpenArm-Bi-v0 `__ -.. |reach_openarm_uni-link| replace:: `Isaac-Reach-OpenArm-v0 `__ -.. |lift_openarm_uni-link| replace:: `Isaac-Lift-Cube-OpenArm-v0 `__ -.. |cabi_openarm_uni-link| replace:: `Isaac-Open-Drawer-OpenArm-v0 `__ +.. |reach-franka-link| replace:: `Isaac-Reach-Franka-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/franka/joint_pos_env_cfg.py>`__ +.. |reach-ur10-link| replace:: `Isaac-Reach-UR10-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/ur_10/joint_pos_env_cfg.py>`__ +.. |deploy-reach-ur10e-link| replace:: `Isaac-Deploy-Reach-UR10e-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/reach/config/ur_10e/joint_pos_env_cfg.py>`__ +.. |lift-cube-link| replace:: `Isaac-Lift-Cube-Franka-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/franka/joint_pos_env_cfg.py>`__ +.. |lift-cube-ik-abs-link| replace:: `Isaac-Lift-Cube-Franka-IK-Abs-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/franka/ik_abs_env_cfg.py>`__ +.. |lift-cube-ik-rel-link| replace:: `Isaac-Lift-Cube-Franka-IK-Rel-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/franka/ik_rel_env_cfg.py>`__ +.. |cabi-franka-link| replace:: `Isaac-Open-Drawer-Franka-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/config/franka/joint_pos_env_cfg.py>`__ +.. |franka-direct-link| replace:: `Isaac-Franka-Cabinet-Direct-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/direct/franka_cabinet/franka_cabinet_env.py>`__ +.. |cube-allegro-link| replace:: `Isaac-Repose-Cube-Allegro-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/inhand/config/allegro_hand/allegro_env_cfg.py>`__ +.. |allegro-direct-link| replace:: `Isaac-Repose-Cube-Allegro-Direct-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/direct/allegro_hand/allegro_hand_env_cfg.py>`__ +.. |stack-cube-link| replace:: `Isaac-Stack-Cube-Franka-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_joint_pos_env_cfg.py>`__ +.. |stack-cube-bp-link| replace:: `Isaac-Stack-Cube-Franka-IK-Rel-Blueprint-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_blueprint_env_cfg.py>`__ +.. |gr1_pick_place-link| replace:: `Isaac-PickPlace-GR1T2-Abs-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_env_cfg.py>`__ +.. |g1_pick_place-link| replace:: `Isaac-PickPlace-G1-InspireFTP-Abs-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_unitree_g1_inspire_hand_env_cfg.py>`__ +.. |g1_pick_place_fixed-link| replace:: `Isaac-PickPlace-FixedBaseUpperBodyIK-G1-Abs-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/fixed_base_upper_body_ik_g1_env_cfg.py>`__ +.. |g1_pick_place_lm-link| replace:: `Isaac-PickPlace-Locomanipulation-G1-Abs-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/locomanipulation_g1_env_cfg.py>`__ +.. |long-suction-link| replace:: `Isaac-Stack-Cube-UR10-Long-Suction-IK-Rel-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/ur10_gripper/stack_ik_rel_env_cfg.py>`__ +.. |short-suction-link| replace:: `Isaac-Stack-Cube-UR10-Short-Suction-IK-Rel-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/ur10_gripper/stack_ik_rel_env_cfg.py>`__ +.. |gr1_pp_waist-link| replace:: `Isaac-PickPlace-GR1T2-WaistEnabled-Abs-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_waist_enabled_env_cfg.py>`__ +.. |galbot_stack-link| replace:: `Isaac-Stack-Cube-Galbot-Left-Arm-Gripper-RmpFlow-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/galbot/stack_rmp_rel_env_cfg.py>`__ +.. |kuka-allegro-lift-link| replace:: `Isaac-Dexsuite-Kuka-Allegro-Lift-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/dexsuite/config/kuka_allegro/dexsuite_kuka_allegro_env_cfg.py>`__ +.. |kuka-allegro-reorient-link| replace:: `Isaac-Dexsuite-Kuka-Allegro-Reorient-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/dexsuite/config/kuka_allegro/dexsuite_kuka_allegro_env_cfg.py>`__ +.. |cube-shadow-link| replace:: `Isaac-Repose-Cube-Shadow-Direct-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/shadow_hand_env_cfg.py>`__ +.. |cube-shadow-ff-link| replace:: `Isaac-Repose-Cube-Shadow-OpenAI-FF-Direct-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/shadow_hand_env_cfg.py>`__ +.. |cube-shadow-lstm-link| replace:: `Isaac-Repose-Cube-Shadow-OpenAI-LSTM-Direct-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/shadow_hand_env_cfg.py>`__ +.. |cube-shadow-vis-link| replace:: `Isaac-Repose-Cube-Shadow-Vision-Direct-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/shadow_hand_vision_env.py>`__ +.. |agibot_place_mug-link| replace:: `Isaac-Place-Mug-Agibot-Left-Arm-RmpFlow-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/place/config/agibot/place_upright_mug_rmp_rel_env_cfg.py>`__ +.. |agibot_place_toy-link| replace:: `Isaac-Place-Toy2Box-Agibot-Right-Arm-RmpFlow-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/place/config/agibot/place_toy2box_rmp_rel_env_cfg.py>`__ +.. |reach_openarm_bi-link| replace:: `Isaac-Reach-OpenArm-Bi-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/openarm/bimanual/joint_pos_env_cfg.py>`__ +.. |reach_openarm_uni-link| replace:: `Isaac-Reach-OpenArm-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/openarm/unimanual/joint_pos_env_cfg.py>`__ +.. |lift_openarm_uni-link| replace:: `Isaac-Lift-Cube-OpenArm-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/openarm/joint_pos_env_cfg.py>`__ +.. |cabi_openarm_uni-link| replace:: `Isaac-Open-Drawer-OpenArm-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/config/openarm/joint_pos_env_cfg.py>`__ Contact-rich Manipulation @@ -292,9 +292,9 @@ For example: .. |factory-gear| image:: ../_static/tasks/factory/gear_mesh.jpg .. |factory-nut| image:: ../_static/tasks/factory/nut_thread.jpg -.. |factory-peg-link| replace:: `Isaac-Factory-PegInsert-Direct-v0 `__ -.. |factory-gear-link| replace:: `Isaac-Factory-GearMesh-Direct-v0 `__ -.. |factory-nut-link| replace:: `Isaac-Factory-NutThread-Direct-v0 `__ +.. |factory-peg-link| replace:: `Isaac-Factory-PegInsert-Direct-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/direct/factory/factory_env_cfg.py>`__ +.. |factory-gear-link| replace:: `Isaac-Factory-GearMesh-Direct-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/direct/factory/factory_env_cfg.py>`__ +.. |factory-nut-link| replace:: `Isaac-Factory-NutThread-Direct-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/direct/factory/factory_env_cfg.py>`__ AutoMate ~~~~~~~~ @@ -351,8 +351,8 @@ We provide environments for both disassembly and assembly. .. |assembly| image:: ../_static/tasks/automate/00004.jpg .. |disassembly| image:: ../_static/tasks/automate/01053_disassembly.jpg -.. |assembly-link| replace:: `Isaac-AutoMate-Assembly-Direct-v0 `__ -.. |disassembly-link| replace:: `Isaac-AutoMate-Disassembly-Direct-v0 `__ +.. |assembly-link| replace:: `Isaac-AutoMate-Assembly-Direct-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/direct/automate/assembly_env_cfg.py>`__ +.. |disassembly-link| replace:: `Isaac-AutoMate-Disassembly-Direct-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/direct/automate/disassembly_env_cfg.py>`__ FORGE ~~~~~~~~ @@ -387,9 +387,9 @@ These tasks share the same task configurations and control options. You can swit .. |forge-gear| image:: ../_static/tasks/factory/gear_mesh.jpg .. |forge-nut| image:: ../_static/tasks/factory/nut_thread.jpg -.. |forge-peg-link| replace:: `Isaac-Forge-PegInsert-Direct-v0 `__ -.. |forge-gear-link| replace:: `Isaac-Forge-GearMesh-Direct-v0 `__ -.. |forge-nut-link| replace:: `Isaac-Forge-NutThread-Direct-v0 `__ +.. |forge-peg-link| replace:: `Isaac-Forge-PegInsert-Direct-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/direct/forge/forge_env_cfg.py>`__ +.. |forge-gear-link| replace:: `Isaac-Forge-GearMesh-Direct-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/direct/forge/forge_env_cfg.py>`__ +.. |forge-nut-link| replace:: `Isaac-Forge-NutThread-Direct-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/direct/forge/forge_env_cfg.py>`__ Locomotion @@ -448,38 +448,38 @@ Environments based on legged locomotion tasks. | |tracking-loco-manip-digit| | |tracking-loco-manip-digit-link| | Track a root velocity and hand pose command with the Agility Digit robot | ``newton``, ``physx`` | +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+-----------------------+ -.. |velocity-flat-anymal-b-link| replace:: `Isaac-Velocity-Flat-Anymal-B-v0 `__ -.. |velocity-rough-anymal-b-link| replace:: `Isaac-Velocity-Rough-Anymal-B-v0 `__ +.. |velocity-flat-anymal-b-link| replace:: `Isaac-Velocity-Flat-Anymal-B-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_b/flat_env_cfg.py>`__ +.. |velocity-rough-anymal-b-link| replace:: `Isaac-Velocity-Rough-Anymal-B-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_b/rough_env_cfg.py>`__ -.. |velocity-flat-anymal-c-link| replace:: `Isaac-Velocity-Flat-Anymal-C-v0 `__ -.. |velocity-rough-anymal-c-link| replace:: `Isaac-Velocity-Rough-Anymal-C-v0 `__ +.. |velocity-flat-anymal-c-link| replace:: `Isaac-Velocity-Flat-Anymal-C-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_c/flat_env_cfg.py>`__ +.. |velocity-rough-anymal-c-link| replace:: `Isaac-Velocity-Rough-Anymal-C-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_c/rough_env_cfg.py>`__ -.. |velocity-flat-anymal-c-direct-link| replace:: `Isaac-Velocity-Flat-Anymal-C-Direct-v0 `__ -.. |velocity-rough-anymal-c-direct-link| replace:: `Isaac-Velocity-Rough-Anymal-C-Direct-v0 `__ +.. |velocity-flat-anymal-c-direct-link| replace:: `Isaac-Velocity-Flat-Anymal-C-Direct-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/direct/anymal_c/anymal_c_env.py>`__ +.. |velocity-rough-anymal-c-direct-link| replace:: `Isaac-Velocity-Rough-Anymal-C-Direct-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/direct/anymal_c/anymal_c_env.py>`__ -.. |velocity-flat-anymal-d-link| replace:: `Isaac-Velocity-Flat-Anymal-D-v0 `__ -.. |velocity-rough-anymal-d-link| replace:: `Isaac-Velocity-Rough-Anymal-D-v0 `__ +.. |velocity-flat-anymal-d-link| replace:: `Isaac-Velocity-Flat-Anymal-D-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_d/flat_env_cfg.py>`__ +.. |velocity-rough-anymal-d-link| replace:: `Isaac-Velocity-Rough-Anymal-D-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_d/rough_env_cfg.py>`__ -.. |velocity-flat-unitree-a1-link| replace:: `Isaac-Velocity-Flat-Unitree-A1-v0 `__ -.. |velocity-rough-unitree-a1-link| replace:: `Isaac-Velocity-Rough-Unitree-A1-v0 `__ +.. |velocity-flat-unitree-a1-link| replace:: `Isaac-Velocity-Flat-Unitree-A1-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/a1/flat_env_cfg.py>`__ +.. |velocity-rough-unitree-a1-link| replace:: `Isaac-Velocity-Rough-Unitree-A1-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/a1/rough_env_cfg.py>`__ -.. |velocity-flat-unitree-go1-link| replace:: `Isaac-Velocity-Flat-Unitree-Go1-v0 `__ -.. |velocity-rough-unitree-go1-link| replace:: `Isaac-Velocity-Rough-Unitree-Go1-v0 `__ +.. |velocity-flat-unitree-go1-link| replace:: `Isaac-Velocity-Flat-Unitree-Go1-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go1/flat_env_cfg.py>`__ +.. |velocity-rough-unitree-go1-link| replace:: `Isaac-Velocity-Rough-Unitree-Go1-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go1/rough_env_cfg.py>`__ -.. |velocity-flat-unitree-go2-link| replace:: `Isaac-Velocity-Flat-Unitree-Go2-v0 `__ -.. |velocity-rough-unitree-go2-link| replace:: `Isaac-Velocity-Rough-Unitree-Go2-v0 `__ +.. |velocity-flat-unitree-go2-link| replace:: `Isaac-Velocity-Flat-Unitree-Go2-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go2/flat_env_cfg.py>`__ +.. |velocity-rough-unitree-go2-link| replace:: `Isaac-Velocity-Rough-Unitree-Go2-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go2/rough_env_cfg.py>`__ -.. |velocity-flat-spot-link| replace:: `Isaac-Velocity-Flat-Spot-v0 `__ +.. |velocity-flat-spot-link| replace:: `Isaac-Velocity-Flat-Spot-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/spot/flat_env_cfg.py>`__ -.. |velocity-flat-h1-link| replace:: `Isaac-Velocity-Flat-H1-v0 `__ -.. |velocity-rough-h1-link| replace:: `Isaac-Velocity-Rough-H1-v0 `__ +.. |velocity-flat-h1-link| replace:: `Isaac-Velocity-Flat-H1-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/h1/flat_env_cfg.py>`__ +.. |velocity-rough-h1-link| replace:: `Isaac-Velocity-Rough-H1-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/h1/rough_env_cfg.py>`__ -.. |velocity-flat-g1-link| replace:: `Isaac-Velocity-Flat-G1-v0 `__ -.. |velocity-rough-g1-link| replace:: `Isaac-Velocity-Rough-G1-v0 `__ +.. |velocity-flat-g1-link| replace:: `Isaac-Velocity-Flat-G1-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/g1/flat_env_cfg.py>`__ +.. |velocity-rough-g1-link| replace:: `Isaac-Velocity-Rough-G1-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/g1/rough_env_cfg.py>`__ -.. |velocity-flat-digit-link| replace:: `Isaac-Velocity-Flat-Digit-v0 `__ -.. |velocity-rough-digit-link| replace:: `Isaac-Velocity-Rough-Digit-v0 `__ -.. |tracking-loco-manip-digit-link| replace:: `Isaac-Tracking-LocoManip-Digit-v0 `__ +.. |velocity-flat-digit-link| replace:: `Isaac-Velocity-Flat-Digit-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/digit/flat_env_cfg.py>`__ +.. |velocity-rough-digit-link| replace:: `Isaac-Velocity-Rough-Digit-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/digit/rough_env_cfg.py>`__ +.. |tracking-loco-manip-digit-link| replace:: `Isaac-Tracking-LocoManip-Digit-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/tracking/config/digit/loco_manip_env_cfg.py>`__ .. |velocity-flat-anymal-b| image:: ../_static/tasks/locomotion/anymal_b_flat.jpg .. |velocity-rough-anymal-b| image:: ../_static/tasks/locomotion/anymal_b_rough.jpg @@ -514,7 +514,7 @@ Navigation | |anymal_c_nav| | |anymal_c_nav-link| | Navigate towards a target x-y position and heading with the ANYmal C robot. | ``newton``, ``physx`` | +----------------+---------------------+-----------------------------------------------------------------------------+-----------------------+ -.. |anymal_c_nav-link| replace:: `Isaac-Navigation-Flat-Anymal-C-v0 `__ +.. |anymal_c_nav-link| replace:: `Isaac-Navigation-Flat-Anymal-C-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/navigation/config/anymal_c/navigation_env_cfg.py>`__ .. |anymal_c_nav| image:: ../_static/tasks/navigation/anymal_c_nav.jpg @@ -527,7 +527,7 @@ Multirotor See the `drone_arl` folder and the ARL robot config (`ARL_ROBOT_1_CFG`) in the codebase for details. -.. |arl_robot_track_position_state_based-link| replace:: `Isaac-TrackPositionNoObstacles-ARL-Robot-1-v0 `__ +.. |arl_robot_track_position_state_based-link| replace:: `Isaac-TrackPositionNoObstacles-ARL-Robot-1-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/drone_arl/track_position_state_based/config/arl_robot_1/track_position_state_based_env_cfg.py>`__ .. |arl_robot_track_position_state_based| image:: ../_static/tasks/drone_arl/arl_robot_1_track_position_state_based.jpg @@ -568,10 +568,10 @@ Others | | |humanoid_amp_walk-link| | | | +----------------+---------------------------+-----------------------------------------------------------------------------+-----------------------+ -.. |quadcopter-link| replace:: `Isaac-Quadcopter-Direct-v0 `__ -.. |humanoid_amp_dance-link| replace:: `Isaac-Humanoid-AMP-Dance-Direct-v0 `__ -.. |humanoid_amp_run-link| replace:: `Isaac-Humanoid-AMP-Run-Direct-v0 `__ -.. |humanoid_amp_walk-link| replace:: `Isaac-Humanoid-AMP-Walk-Direct-v0 `__ +.. |quadcopter-link| replace:: `Isaac-Quadcopter-Direct-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/direct/quadcopter/quadcopter_env.py>`__ +.. |humanoid_amp_dance-link| replace:: `Isaac-Humanoid-AMP-Dance-Direct-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/humanoid_amp_env_cfg.py>`__ +.. |humanoid_amp_run-link| replace:: `Isaac-Humanoid-AMP-Run-Direct-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/humanoid_amp_env_cfg.py>`__ +.. |humanoid_amp_walk-link| replace:: `Isaac-Humanoid-AMP-Walk-Direct-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/humanoid_amp_env_cfg.py>`__ .. |quadcopter| image:: ../_static/tasks/others/quadcopter.jpg .. |humanoid_amp| image:: ../_static/tasks/others/humanoid_amp.jpg @@ -716,7 +716,7 @@ Classic .. |cart-double-pendulum| image:: ../_static/tasks/classic/cart_double_pendulum.jpg -.. |cart-double-pendulum-direct-link| replace:: `Isaac-Cart-Double-Pendulum-Direct-v0 `__ +.. |cart-double-pendulum-direct-link| replace:: `Isaac-Cart-Double-Pendulum-Direct-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/cart_double_pendulum_env.py>`__ Manipulation ~~~~~~~~~~~~ @@ -734,7 +734,7 @@ Environments based on fixed-arm manipulation tasks. .. |shadow-hand-over| image:: ../_static/tasks/manipulation/shadow_hand_over.jpg -.. |shadow-hand-over-direct-link| replace:: `Isaac-Shadow-Hand-Over-Direct-v0 `__ +.. |shadow-hand-over-direct-link| replace:: `Isaac-Shadow-Hand-Over-Direct-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand_over/shadow_hand_over_env.py>`__ |