Environments API

Environments API#

Task environment classes.

Lift Pot Environments#

from roboeval.envs.lift_pot import (
    LiftPot,
    LiftPotPosition,
    LiftPotOrientation,
    LiftPotPositionAndOrientation
)

Stack Books Environments#

from roboeval.envs.stack_books import (
    StackSingleBookShelf,
    StackSingleBookShelfPosition,
    StackSingleBookShelfPositionAndOrientation,
    PickSingleBookFromTable,
    PickSingleBookFromTablePosition,
    PickSingleBookFromTableOrientation,
    PickSingleBookFromTablePositionAndOrientation
)

Manipulation Environments#

from roboeval.envs.manipulation import (
    StackTwoBlocks,
    StackTwoBlocksPosition,
    StackTwoBlocksOrientation,
    StackTwoBlocksPositionAndOrientation,
    CubeHandover,
    CubeHandoverPosition,
    CubeHandoverOrientation,
    CubeHandoverPositionAndOrientation,
    VerticalCubeHandover
)

Rotate Valve Environments#

from roboeval.envs.rotate_utility_objects import (
    RotateValve,
    RotateValvePosition,
    RotateValvePositionAndOrientation
)

Pack Box Environments#

from roboeval.envs.pack_objects import (
    PackBox,
    PackBoxPosition,
    PackBoxOrientation,
    PackBoxPositionAndOrientation
)

Lift Tray Environments#

from roboeval.envs.lift_tray import (
    LiftTray,
    LiftTrayPosition,
    LiftTrayOrientation,
    LiftTrayPositionAndOrientation,
    DragOverAndLiftTray
)

Common Parameters#

All environments accept:

  • action_mode: ActionMode - How to control the robot

  • robot_cls: Type[Robot] - Robot configuration

  • render_mode: str - Rendering mode (“human”, “rgb_array”, None)

  • control_frequency: int - Control loop frequency (Hz)

  • observation_config: ObservationConfig - Observation configuration

  • start_seed: int - Initial random seed

See Also#

Contents