I am trying this, but the env only has “Isaac-Velocity-Rough-G1-v0” task, is it correct?
./isaaclab.sh -p source/standalone/workflows/rsl_rl/train.py --task Isaac-Velocity-Rough-G1-v0 --headless
But the output is pt instead of pth…
I got error when I try to play it… I guess it is the task problem? Did IssacLab has the G1 or I still need to wait? Thx
./isaaclab.sh -p source/standalone/workflows/rsl_rl/play.py --task Isaac-Velocity-Rough-G1-v0 --num_envs 32 --checkpoint /media/ak/HD/Omniverse/IsaacLab/logs/rsl_rl/g1_rough/2024-06-29_00-00-14/model_2999.pt
...
ValueError: No checkpoints in the directory: '/media/ak/HD/Omniverse/IsaacLab/logs/rsl_rl/g1_rough/2024-06-29_00-00-14' match '/media/ak/HD/Omniverse/IsaacLab/logs/rsl_rl/g1_rough/2024-06-29_00-00-14/model_2999.pt'.
I have the pt file though
/media/ak/HD/Omniverse/IsaacLab/logs/rsl_rl/g1_rough/2024-06-29_00-00-14$ ls
events.out.tfevents.1719590448.ak-MS-7D99.9667.0 git model_2999.pt params
./isaaclab.sh -p source/standalone/workflows/rsl_rl/play.py --task Isaac-Velocity-Rough-G1-v0 --num_envs 32 --checkpoint /media/ak/HD/Omniverse/IsaacLab/logs/rsl_rl/g1_rough/2024-06-29_00-00-14/model_2999.pt
[INFO] Using python from: /home/ak/anaconda3/envs/isaaclab/bin/python
[INFO][AppLauncher]: Loading experience file: /media/ak/HD/Omniverse/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/app/../../../../../../apps/isaaclab.python.kit
[Warning] [omni.isaac.kit.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
[Warning] [omni.isaac.kit.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
Starting kit application with the following args: ['/home/ak/anaconda3/envs/isaaclab/lib/python3.10/site-packages/isaacsim/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py', '/media/ak/HD/Omniverse/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/app/../../../../../../apps/isaaclab.python.kit', '--/app/tokens/exe-path=/home/ak/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omni', '--/persistent/app/viewport/displayOptions=3094', '--/rtx/materialDb/syncLoads=True', '--/rtx/hydra/materialSyncLoads=True', '--/omni.kit.plugin/syncUsdLoads=True', '--/app/renderer/resolution/width=1280', '--/app/renderer/resolution/height=720', '--/app/window/width=1440', '--/app/window/height=900', '--/renderer/multiGpu/enabled=True', '--/app/fastShutdown=True', '--ext-folder', '/home/ak/anaconda3/envs/isaaclab/lib/python3.10/site-packages/isaacsim/exts', '--ext-folder', '/home/ak/anaconda3/envs/isaaclab/lib/python3.10/site-packages/isaacsim/apps', '--/renderer/activeGpu=0', '--/physics/cudaDevice=0', '--portable', '--/app/window/hideUi=False']
Passing the following args to the base kit application: ['--task', 'Isaac-Velocity-Rough-G1-v0', '--num_envs', '32', '--checkpoint', '/media/ak/HD/Omniverse/IsaacLab/logs/rsl_rl/g1_rough/2024-06-29_00-00-14/model_2999.pt']
Loading user config located at: '/home/ak/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omni/data/Kit/Isaac-Sim/4.0/user.config.json'
[Info] [carb] Logging to file: /home/ak/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omni/logs/Kit/Isaac-Sim/4.0/kit_20240629_084456.log
2024-06-29 00:44:56 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available.
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|---------------------------------------------------------------------------------------------|
| Driver Version: 535.183.01 | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
| | | | | | Device-ID | UUID |
| | | | | | Bus-ID | |
|---------------------------------------------------------------------------------------------|
| 0 | NVIDIA GeForce RTX 4090 | Yes: 0 | | 24564 MB | 10de | 0 |
| | | | | | 2684 | f844c4a0.. |
| | | | | | 1 | |
|=============================================================================================|
| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 6.5.0-41-generic
| XServer Vendor: The X.Org Foundation, XServer Version: 12101004 (1.21.1.4)
| Processor: 13th Gen Intel(R) Core(TM) i9-13900F | Cores: 24 | Logical: 48
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 31925 | Free Memory: 27633
| Total Page/Swap (MB): 2047 | Free Page/Swap: 2047
|---------------------------------------------------------------------------------------------|
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Warp 1.1.0 initialized:
CUDA Toolkit 11.5, Driver 12.2
Devices:
"cpu" : "x86_64"
"cuda:0" : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
Kernel cache:
/home/ak/.cache/warp/1.1.0
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[3.412s] [ext: omni.kit.widget.stage_icons-1.0.3] startup
[3.412s] [ext: omni.hydra.scene_api-0.1.2] startup
[3.417s] [ext: omni.kit.property.geometry-1.3.0] startup
[3.419s] [ext: omni.kit.property.camera-1.0.6] startup
[3.420s] [ext: omni.kit.widget.extended_searchfield-1.0.27] startup
[3.424s] [ext: omni.kit.window.stage-2.5.9] startup
[3.426s] [ext: omni.kit.property.transform-1.5.1] startup
[3.428s] [ext: omni.kit.property.render-1.1.1] startup
[3.429s] [ext: omni.kit.property.light-1.0.8] startup
[3.430s] [ext: omni.kit.window.commands-0.2.5] startup
[3.431s] [ext: omni.kit.widget.timeline-105.0.1] startup
[3.433s] [ext: omni.kit.menu.stage-1.2.5] startup
[3.433s] [ext: omni.kit.property.bundle-1.2.11] startup
[3.434s] [ext: omni.kit.window.status_bar-0.1.6] startup
[3.438s] [ext: omni.kit.window.title-1.1.3] startup
[3.438s] [ext: omni.replicator.isaac-1.15.0] startup
[3.447s] [ext: omni.replicator.replicator_yaml-2.0.5] startup
[3.457s] [ext: omni.rtx.settings.core-0.6.0] startup
[3.462s] [ext: omni.kit.window.console-0.2.12] startup
[3.470s] [ext: semantics.schema.editor-0.3.4] startup
[3.473s] [ext: semantics.schema.property-1.0.2] startup
[3.474s] [ext: omni.kit.window.script_editor-1.7.6] startup
[3.476s] [ext: omni.kit.profiler.window-2.2.1] startup
2024-06-29 00:44:59 [3,468ms] [Warning] [omni.kit.profiler.window] remove _SpanInstance.__lt__ and use insort 'key' arg instead
[3.481s] [ext: omni.isaac.utils-1.0.1] startup
[3.482s] [ext: omni.isaac.cloner-0.8.1] startup
[3.484s] [ext: omni.kit.window.stats-0.1.6] startup
[3.485s] [ext: isaaclab.python-1.0.0] startup
[3.486s] Simulation App Starting
[4.840s] app ready
[5.582s] Simulation App Startup Complete
[INFO]: Parsing configuration from: <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.g1.rough_env_cfg.G1RoughEnvCfg'>
[INFO]: Parsing configuration from: <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.g1.agents.rsl_rl_cfg.G1RoughPPORunnerCfg'>
[6.042s] [ext: omni.physx.fabric-106.0.16] startup
[INFO]: Base environment:
Environment device : cuda:0
Physics step-size : 0.005
Rendering step-size : 0.02
Environment step-size : 0.02
Physics GPU pipeline : True
Physics GPU simulation: True
[INFO] Generating terrains based on curriculum took : 0.794930 seconds
[INFO]: Time taken for scene creation : 2.731068 seconds
[INFO]: Scene manager: <class InteractiveScene>
Number of environments: 32
Environment spacing : 2.5
Source prim name : /World/envs/env_0
Global prim paths : ['/World/ground']
Replicate physics : True
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
2024-06-29 00:45:07 [11,888ms] [Warning] [omni.hydra.scene_delegate.plugin] Calling getBypassRenderSkelMeshProcessing for prim /World/envs/env_0/Robot/head_link/visuals.proto_mesh_0_id0 that has not been populated
[INFO]: Time taken for simulation start : 3.415806 seconds
[INFO] Command Manager: <CommandManager> contains 1 active terms.
+------------------------------------------------+
| Active Command Terms |
+-------+---------------+------------------------+
| Index | Name | Type |
+-------+---------------+------------------------+
| 0 | base_velocity | UniformVelocityCommand |
+-------+---------------+------------------------+
[INFO] Action Manager: <ActionManager> contains 1 active terms.
+------------------------------------+
| Active Action Terms (shape: 37) |
+--------+-------------+-------------+
| Index | Name | Dimension |
+--------+-------------+-------------+
| 0 | joint_pos | 37 |
+--------+-------------+-------------+
Module omni.isaac.lab.utils.warp.kernels load on device 'cuda:0' took 1.36 ms
[INFO] Observation Manager: <ObservationManager> contains 1 groups.
+----------------------------------------------------------+
| Active Observation Terms in Group: 'policy' (shape: (310,)) |
+-----------+--------------------------------+-------------+
| Index | Name | Shape |
+-----------+--------------------------------+-------------+
| 0 | base_lin_vel | (3,) |
| 1 | base_ang_vel | (3,) |
| 2 | projected_gravity | (3,) |
| 3 | velocity_commands | (3,) |
| 4 | joint_pos | (37,) |
| 5 | joint_vel | (37,) |
| 6 | actions | (37,) |
| 7 | height_scan | (187,) |
+-----------+--------------------------------+-------------+
[INFO] Event Manager: <EventManager> contains 2 active terms.
+--------------------------------------+
| Active Event Terms in Mode: 'startup' |
+----------+---------------------------+
| Index | Name |
+----------+---------------------------+
| 0 | physics_material |
+----------+---------------------------+
+---------------------------------------+
| Active Event Terms in Mode: 'reset' |
+--------+------------------------------+
| Index | Name |
+--------+------------------------------+
| 0 | base_external_force_torque |
| 1 | reset_base |
| 2 | reset_robot_joints |
+--------+------------------------------+
[INFO] Termination Manager: <TerminationManager> contains 2 active terms.
+---------------------------------+
| Active Termination Terms |
+-------+--------------+----------+
| Index | Name | Time Out |
+-------+--------------+----------+
| 0 | time_out | True |
| 1 | base_contact | False |
+-------+--------------+----------+
[INFO] Reward Manager: <RewardManager> contains 16 active terms.
+---------------------------------------------+
| Active Reward Terms |
+-------+-------------------------+-----------+
| Index | Name | Weight |
+-------+-------------------------+-----------+
| 0 | track_lin_vel_xy_exp | 1.0 |
| 1 | track_ang_vel_z_exp | 2.0 |
| 2 | lin_vel_z_l2 | 0.0 |
| 3 | ang_vel_xy_l2 | -0.05 |
| 4 | dof_torques_l2 | -1.5e-07 |
| 5 | dof_acc_l2 | -1.25e-07 |
| 6 | action_rate_l2 | -0.005 |
| 7 | feet_air_time | 0.25 |
| 8 | flat_orientation_l2 | -1.0 |
| 9 | dof_pos_limits | -1.0 |
| 10 | termination_penalty | -200.0 |
| 11 | feet_slide | -0.1 |
| 12 | joint_deviation_hip | -0.1 |
| 13 | joint_deviation_arms | -0.1 |
| 14 | joint_deviation_fingers | -0.05 |
| 15 | joint_deviation_torso | -0.1 |
+-------+-------------------------+-----------+
[INFO] Curriculum Manager: <CurriculumManager> contains 1 active terms.
+---------------------------+
| Active Curriculum Terms |
+--------+------------------+
| Index | Name |
+--------+------------------+
| 0 | terrain_levels |
+--------+------------------+
Creating window for environment.
[INFO]: Completed setting up the environment...
[INFO] Loading experiment from directory: /media/ak/HD/Omniverse/IsaacLab/logs/rsl_rl/g1_rough
Traceback (most recent call last):
File "/media/ak/HD/Omniverse/IsaacLab/source/standalone/workflows/rsl_rl/play.py", line 106, in <module>
main()
File "/media/ak/HD/Omniverse/IsaacLab/source/standalone/workflows/rsl_rl/play.py", line 71, in main
resume_path = get_checkpoint_path(log_root_path, agent_cfg.load_run, agent_cfg.load_checkpoint)
File "/media/ak/HD/Omniverse/IsaacLab/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/parse_cfg.py", line 205, in get_checkpoint_path
raise ValueError(f"No checkpoints in the directory: '{run_path}' match '{checkpoint}'.")
ValueError: No checkpoints in the directory: '/media/ak/HD/Omniverse/IsaacLab/logs/rsl_rl/g1_rough/2024-06-29_00-00-14' match '/media/ak/HD/Omniverse/IsaacLab/logs/rsl_rl/g1_rough/2024-06-29_00-00-14/model_2999.pt'.
2024-06-29 00:45:08 [12,682ms] [Warning] [carb] [Plugin: omni.sensors.tiled.plugin] Module /home/ak/anaconda3/envs/isaaclab/lib/python3.10/site-packages/isaacsim/extscache/omni.sensors.tiled-0.0.3+106.0.0.lx64.r/bin/libomni.sensors.tiled.plugin.so remained loaded after unload request
2024-06-29 00:45:08 [12,685ms] [Warning] [carb] [Plugin: omni.spectree.delegate.plugin] Module /home/ak/anaconda3/envs/isaaclab/lib/python3.10/site-packages/isaacsim/extscache/omni.usd_resolver/bin/libomni.spectree.delegate.plugin.so remained loaded after unload request
2024-06-29 00:45:08 [12,687ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-06-29 00:45:08 [12,687ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-06-29 00:45:08 [12,688ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-06-29 00:45:08 [12,688ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-06-29 00:45:08 [12,688ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-06-29 00:45:08 [12,688ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-06-29 00:45:08 [12,688ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-06-29 00:45:08 [12,688ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-06-29 00:45:08 [12,688ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-06-29 00:45:08 [12,688ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-06-29 00:45:08 [12,688ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-06-29 00:45:08 [12,688ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
2024-06-29 00:45:08 [12,893ms] [Warning] [carb] Recursive unloadAllPlugins() detected!
The env
+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| Available Environments in Isaac Lab |
+--------+--------------------------------------------+-------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------+
| S. No. | Task Name | Entry Point | Config |
+--------+--------------------------------------------+-------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------+
| 1 | Isaac-Ant-Direct-v0 | omni.isaac.lab_tasks.direct.ant:AntEnv | <class 'omni.isaac.lab_tasks.direct.ant.ant_env.AntEnvCfg'> |
| 2 | Isaac-Velocity-Flat-Anymal-C-Direct-v0 | omni.isaac.lab_tasks.direct.anymal_c:AnymalCEnv | <class 'omni.isaac.lab_tasks.direct.anymal_c.anymal_c_env.AnymalCFlatEnvCfg'> |
| 3 | Isaac-Velocity-Rough-Anymal-C-Direct-v0 | omni.isaac.lab_tasks.direct.anymal_c:AnymalCEnv | <class 'omni.isaac.lab_tasks.direct.anymal_c.anymal_c_env.AnymalCRoughEnvCfg'> |
| 4 | Isaac-Cartpole-Direct-v0 | omni.isaac.lab_tasks.direct.cartpole:CartpoleEnv | <class 'omni.isaac.lab_tasks.direct.cartpole.cartpole_env.CartpoleEnvCfg'> |
| 5 | Isaac-Cartpole-RGB-Camera-Direct-v0 | omni.isaac.lab_tasks.direct.cartpole:CartpoleCameraEnv | <class 'omni.isaac.lab_tasks.direct.cartpole.cartpole_camera_env.CartpoleRGBCameraEnvCfg'> |
| 6 | Isaac-Cartpole-Depth-Camera-Direct-v0 | omni.isaac.lab_tasks.direct.cartpole:CartpoleCameraEnv | <class 'omni.isaac.lab_tasks.direct.cartpole.cartpole_camera_env.CartpoleDepthCameraEnvCfg'> |
| 7 | Isaac-Franka-Cabinet-Direct-v0 | omni.isaac.lab_tasks.direct.franka_cabinet:FrankaCabinetEnv | <class 'omni.isaac.lab_tasks.direct.franka_cabinet.franka_cabinet_env.FrankaCabinetEnvCfg'> |
| 8 | Isaac-Humanoid-Direct-v0 | omni.isaac.lab_tasks.direct.humanoid:HumanoidEnv | <class 'omni.isaac.lab_tasks.direct.humanoid.humanoid_env.HumanoidEnvCfg'> |
| 9 | Isaac-Quadcopter-Direct-v0 | omni.isaac.lab_tasks.direct.quadcopter:QuadcopterEnv | <class 'omni.isaac.lab_tasks.direct.quadcopter.quadcopter_env.QuadcopterEnvCfg'> |
| 10 | Isaac-Shadow-Hand-Direct-v0 | omni.isaac.lab_tasks.direct.shadow_hand:ShadowHandEnv | <class 'omni.isaac.lab_tasks.direct.shadow_hand.shadow_hand_env_cfg.ShadowHandEnvCfg'> |
| 11 | Isaac-Shadow-Hand-OpenAI-FF-Direct-v0 | omni.isaac.lab_tasks.direct.shadow_hand:ShadowHandEnv | <class 'omni.isaac.lab_tasks.direct.shadow_hand.shadow_hand_env_cfg.ShadowHandOpenAIEnvCfg'> |
| 12 | Isaac-Shadow-Hand-OpenAI-LSTM-Direct-v0 | omni.isaac.lab_tasks.direct.shadow_hand:ShadowHandEnv | <class 'omni.isaac.lab_tasks.direct.shadow_hand.shadow_hand_env_cfg.ShadowHandOpenAIEnvCfg'> |
| 13 | Isaac-Humanoid-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.classic.humanoid.humanoid_env_cfg.HumanoidEnvCfg'> |
| 14 | Isaac-Ant-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.classic.ant.ant_env_cfg.AntEnvCfg'> |
| 15 | Isaac-Cartpole-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.classic.cartpole.cartpole_env_cfg.CartpoleEnvCfg'> |
| 16 | Isaac-Velocity-Flat-Anymal-B-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.anymal_b.flat_env_cfg.AnymalBFlatEnvCfg'> |
| 17 | Isaac-Velocity-Flat-Anymal-B-Play-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.anymal_b.flat_env_cfg.AnymalBFlatEnvCfg_PLAY'> |
| 18 | Isaac-Velocity-Rough-Anymal-B-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.anymal_b.rough_env_cfg.AnymalBRoughEnvCfg'> |
| 19 | Isaac-Velocity-Rough-Anymal-B-Play-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.anymal_b.rough_env_cfg.AnymalBRoughEnvCfg_PLAY'> |
| 20 | Isaac-Velocity-Flat-Anymal-C-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.anymal_c.flat_env_cfg.AnymalCFlatEnvCfg'> |
| 21 | Isaac-Velocity-Flat-Anymal-C-Play-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.anymal_c.flat_env_cfg.AnymalCFlatEnvCfg_PLAY'> |
| 22 | Isaac-Velocity-Rough-Anymal-C-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.anymal_c.rough_env_cfg.AnymalCRoughEnvCfg'> |
| 23 | Isaac-Velocity-Rough-Anymal-C-Play-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.anymal_c.rough_env_cfg.AnymalCRoughEnvCfg_PLAY'> |
| 24 | Isaac-Velocity-Flat-Anymal-D-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.anymal_d.flat_env_cfg.AnymalDFlatEnvCfg'> |
| 25 | Isaac-Velocity-Flat-Anymal-D-Play-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.anymal_d.flat_env_cfg.AnymalDFlatEnvCfg_PLAY'> |
| 26 | Isaac-Velocity-Rough-Anymal-D-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.anymal_d.rough_env_cfg.AnymalDRoughEnvCfg'> |
| 27 | Isaac-Velocity-Rough-Anymal-D-Play-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.anymal_d.rough_env_cfg.AnymalDRoughEnvCfg_PLAY'> |
| 28 | Isaac-Velocity-Flat-Cassie-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.cassie.flat_env_cfg.CassieFlatEnvCfg'> |
| 29 | Isaac-Velocity-Flat-Cassie-Play-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.cassie.flat_env_cfg.CassieFlatEnvCfg_PLAY'> |
| 30 | Isaac-Velocity-Rough-Cassie-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.cassie.rough_env_cfg.CassieRoughEnvCfg'> |
| 31 | Isaac-Velocity-Rough-Cassie-Play-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.cassie.rough_env_cfg.CassieRoughEnvCfg_PLAY'> |
| 32 | Isaac-Velocity-Rough-G1-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.g1.rough_env_cfg.G1RoughEnvCfg'> |
| 33 | Isaac-Velocity-Rough-G1-Play-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.g1.rough_env_cfg.G1RoughEnvCfg_PLAY'> |
| 34 | Isaac-Velocity-Flat-G1-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.g1.flat_env_cfg.G1FlatEnvCfg'> |
| 35 | Isaac-Velocity-Flat-G1-Play-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.g1.flat_env_cfg.G1FlatEnvCfg_PLAY'> |
| 36 | Isaac-Velocity-Rough-H1-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.h1.rough_env_cfg.H1RoughEnvCfg'> |
| 37 | Isaac-Velocity-Rough-H1-Play-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.h1.rough_env_cfg.H1RoughEnvCfg_PLAY'> |
| 38 | Isaac-Velocity-Flat-H1-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.h1.flat_env_cfg.H1FlatEnvCfg'> |
| 39 | Isaac-Velocity-Flat-H1-Play-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.h1.flat_env_cfg.H1FlatEnvCfg_PLAY'> |
| 40 | Isaac-Velocity-Flat-Spot-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.spot.flat_env_cfg.SpotFlatEnvCfg'> |
| 41 | Isaac-Velocity-Flat-Spot-Play-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.spot.flat_env_cfg.SpotFlatEnvCfg_PLAY'> |
| 42 | Isaac-Velocity-Flat-Unitree-A1-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.unitree_a1.flat_env_cfg.UnitreeA1FlatEnvCfg'> |
| 43 | Isaac-Velocity-Flat-Unitree-A1-Play-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.unitree_a1.flat_env_cfg.UnitreeA1FlatEnvCfg_PLAY'> |
| 44 | Isaac-Velocity-Rough-Unitree-A1-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.unitree_a1.rough_env_cfg.UnitreeA1RoughEnvCfg'> |
| 45 | Isaac-Velocity-Rough-Unitree-A1-Play-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.unitree_a1.rough_env_cfg.UnitreeA1RoughEnvCfg_PLAY'> |
| 46 | Isaac-Velocity-Flat-Unitree-Go1-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.unitree_go1.flat_env_cfg.UnitreeGo1FlatEnvCfg'> |
| 47 | Isaac-Velocity-Flat-Unitree-Go1-Play-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.unitree_go1.flat_env_cfg.UnitreeGo1FlatEnvCfg_PLAY'> |
| 48 | Isaac-Velocity-Rough-Unitree-Go1-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.unitree_go1.rough_env_cfg.UnitreeGo1RoughEnvCfg'> |
| 49 | Isaac-Velocity-Rough-Unitree-Go1-Play-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.unitree_go1.rough_env_cfg.UnitreeGo1RoughEnvCfg_PLAY'> |
| 50 | Isaac-Velocity-Flat-Unitree-Go2-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.unitree_go2.flat_env_cfg.UnitreeGo2FlatEnvCfg'> |
| 51 | Isaac-Velocity-Flat-Unitree-Go2-Play-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.unitree_go2.flat_env_cfg.UnitreeGo2FlatEnvCfg_PLAY'> |
| 52 | Isaac-Velocity-Rough-Unitree-Go2-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.unitree_go2.rough_env_cfg.UnitreeGo2RoughEnvCfg'> |
| 53 | Isaac-Velocity-Rough-Unitree-Go2-Play-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.unitree_go2.rough_env_cfg.UnitreeGo2RoughEnvCfg_PLAY'> |
| 54 | Isaac-Open-Drawer-Franka-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.manipulation.cabinet.config.franka.joint_pos_env_cfg.FrankaCabinetEnvCfg'> |
| 55 | Isaac-Open-Drawer-Franka-Play-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.manipulation.cabinet.config.franka.joint_pos_env_cfg.FrankaCabinetEnvCfg_PLAY'> |
| 56 | Isaac-Open-Drawer-Franka-IK-Abs-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.manipulation.cabinet.config.franka.ik_abs_env_cfg.FrankaCabinetEnvCfg'> |
| 57 | Isaac-Open-Drawer-Franka-IK-Rel-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.manipulation.cabinet.config.franka.ik_rel_env_cfg.FrankaCabinetEnvCfg'> |
| 58 | Isaac-Repose-Cube-Allegro-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.manipulation.inhand.config.allegro_hand.allegro_env_cfg.AllegroCubeEnvCfg'> |
| 59 | Isaac-Repose-Cube-Allegro-Play-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.manipulation.inhand.config.allegro_hand.allegro_env_cfg.AllegroCubeEnvCfg_PLAY'> |
| 60 | Isaac-Repose-Cube-Allegro-NoVelObs-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.manipulation.inhand.config.allegro_hand.allegro_env_cfg.AllegroCubeNoVelObsEnvCfg'> |
| 61 | Isaac-Repose-Cube-Allegro-NoVelObs-Play-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.manipulation.inhand.config.allegro_hand.allegro_env_cfg.AllegroCubeNoVelObsEnvCfg_PLAY'> |
| 62 | Isaac-Lift-Cube-Franka-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.manipulation.lift.config.franka.joint_pos_env_cfg.FrankaCubeLiftEnvCfg'> |
| 63 | Isaac-Lift-Cube-Franka-Play-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.manipulation.lift.config.franka.joint_pos_env_cfg.FrankaCubeLiftEnvCfg_PLAY'> |
| 64 | Isaac-Lift-Cube-Franka-IK-Abs-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.manipulation.lift.config.franka.ik_abs_env_cfg.FrankaCubeLiftEnvCfg'> |
| 65 | Isaac-Lift-Cube-Franka-IK-Rel-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.manipulation.lift.config.franka.ik_rel_env_cfg.FrankaCubeLiftEnvCfg'> |
| 66 | Isaac-Reach-Franka-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.manipulation.reach.config.franka.joint_pos_env_cfg.FrankaReachEnvCfg'> |
| 67 | Isaac-Reach-Franka-Play-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.manipulation.reach.config.franka.joint_pos_env_cfg.FrankaReachEnvCfg_PLAY'> |
| 68 | Isaac-Reach-Franka-IK-Abs-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.manipulation.reach.config.franka.ik_abs_env_cfg.FrankaReachEnvCfg'> |
| 69 | Isaac-Reach-Franka-IK-Rel-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.manipulation.reach.config.franka.ik_rel_env_cfg.FrankaReachEnvCfg'> |
| 70 | Isaac-Reach-UR10-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.manipulation.reach.config.ur_10.joint_pos_env_cfg.UR10ReachEnvCfg'> |
| 71 | Isaac-Reach-UR10-Play-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.manipulation.reach.config.ur_10.joint_pos_env_cfg.UR10ReachEnvCfg_PLAY'> |
| 72 | Isaac-Navigation-Flat-Anymal-C-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.navigation.config.anymal_c.navigation_env_cfg.NavigationEnvCfg'> |
| 73 | Isaac-Navigation-Flat-Anymal-C-Play-v0 | omni.isaac.lab.envs:ManagerBasedRLEnv | <class 'omni.isaac.lab_tasks.manager_based.navigation.config.anymal_c.navigation_env_cfg.NavigationEnvCfg_PLAY'> |
+--------+--------------------------------------------+-------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------+