可用环境#
以下列表包含在 Isaac Lab 中可用的所有 RL 任务实现。尽管我们尽量保持此列表最新，您仍可以通过运行以下命令获取最新的环境列表:
./isaaclab.sh -p source/standalone/environments/list_envs.py
isaaclab.bat -p source\standalone\environments\list_envs.py
我们正在积极努力将更多的环境添加到列表中。如果您有任何想要添加到Isaac Lab的环境，请随时提交拉取请求！
单一智能体#
经典#
基于 IsaacGymEnvs 实现的 MuJoCo 风格环境的经典环境。
世界 |
环境 ID |
描述 |
|---|---|---|
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朝着一个方向移动，与 MuJoCo 人形机器人。 |
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朝着一个方向移动，与MuJoCo蚂蚁机器人 |
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移动小车以保持杆子在经典的 cartpole 控制中向上 |
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移动小车以保持杆子向上在经典的 cartpole 控制和感知输入中 |
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移动小车以保持杆子向上在经典的 cartpole 控制，该控制基于使用预训练的冻结视觉编码器从感知输入中提取的特征 |
操作臂#
基于固定机械臂操作任务的环境。
对于许多这些任务，我们包括具有不同手臂动作空间的配置。例如，对于reach环境:
Isaac-Lift-Cube-Franka-v0: 法兰卡臂与关节位置控制
Isaac-Lift-Cube-Franka-IK-Abs-v0: Franka机械臂具有绝对IK控制
Isaac-Lift-Cube-Franka-IK-Rel-v0: Franka机械臂，带有相对IK控制
世界 |
环境 ID |
描述 |
|---|---|---|
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将末端执行器移动到使用Franka机器人采样的目标姿势处 |
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将末端执行器移动到使用 UR10 机器人采样的目标姿势 |
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选择一个立方体，并将其带到采样目标位置，使用Franka机器人。 |
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抓住一个柜子抽屉的把手，并用 Franka 机器人打开它。 |
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使用 Allegro 手进行魔方的手持重定向 |
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Isaac-Repose-Cube-Shadow-Direct-v0 |
用影子手重定位立方体 |
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手中立方体的重新定向，使用 Shadow hand 和感知输入 |
运动#
基于四足运动任务的环境。
世界 |
环境 ID |
描述 |
|---|---|---|
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在平坦地形上使用 Anymal B 机器人跟踪速度指令 |
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在崎岖地形上使用 Anymal B 机器人跟踪速度指令 |
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在平坦地形上使用 Anymal C 机器人跟踪速度指令 |
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在崎岖地形上追踪Anymal C机器人的速度指令 |
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在平坦地形上使用 Anymal D 机器人跟踪速度命令 |
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在粗糙地形上使用 Anymal D 机器人跟踪速度命令 |
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在平坦地形上使用 Unitree A1 机器人跟踪速度指令 |
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在崎岖地形上追踪Unitree A1机器人的速度指令 |
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在平坦地形上追踪Unitree Go1机器人的速度指令 |
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在粗糙地形上跟踪 Unitree Go1 机器人的速度命令 |
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跟踪 Unitree Go2 机器人在平坦地形上的速度指令 |
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在崎岖地形上追踪Unitree Go2机器人的速度指令 |
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在平坦地形上使用波士顿动力的Spot机器人跟踪速度指令 |
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在平坦地形上使用Unitree H1机器人跟踪速度命令 |
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在崎岖地形上追踪Unitree H1机器人的速度指令 |
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在平坦地形上跟踪 Unitree G1 机器人上的速度命令 |
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在崎岖地形上追踪Unitree G1机器人的速度命令 |
导航#
世界 |
环境 ID |
描述 |
|---|---|---|
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anymal_c_nav-link |
朝着目标 x-y 位置和方向导航，使用 ANYmal C 机器人。 |
Others#
世界 |
环境 ID |
描述 |
|---|---|---|
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使用推力在目标点飞行和悬停Crazyflie无人机。 |
多智能体#
备注
真正的多智能体训练仅在 skrl 库中可用，更多信息请参见 多智能体文档。它支持 IPPO 和 MAPPO 算法，可以通过在训练/游戏脚本中添加命令行输入 --algorithm IPPO 或 --algorithm MAPPO 来激活。如果这些环境与其他库一起运行或没有 IPPO 或 MAPPO 标志，它们将在后台转换为单智能体环境。
经典#
世界 |
环境 ID |
描述 |
|---|---|---|
|
移动小车和摆锤以保持最后一个向上，在经典的倒立双摆控制小车上。 |
操作臂#
基于固定机械臂操作任务的环境。
世界 |
环境 ID |
描述 |
|---|---|---|
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将一个物体从一只手传递到另一只手 |
综合环境列表#
任务名称 |
推理任务名称 |
工作流程 |
RL 库 |
Isaac-Ant-Direct-v0 |
Direct |
rl_games (PPO), rsl_rl (PPO), skrl (PPO) |
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Isaac-Ant-v0 |
Manager Based |
rsl_rl (PPO), rl_games (PPO), skrl (PPO), sb3 (PPO) |
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Isaac-Cart-Double-Pendulum-Direct-v0 |
Direct |
rl_games (PPO), skrl (IPPO, MAPPO, PPO) |
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Isaac-Cartpole-Depth-Camera-Direct-v0 |
Direct |
rl_games (PPO), skrl (PPO) |
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Isaac-Cartpole-Direct-v0 |
Direct |
rl_games (PPO), rsl_rl (PPO), skrl (PPO), sb3 (PPO) |
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Isaac-Cartpole-RGB-Camera-Direct-v0 |
Direct |
rl_games (PPO), skrl (PPO) |
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Isaac-Cartpole-v0 |
Manager Based |
rl_games (PPO), rsl_rl (PPO), skrl (PPO), sb3 (PPO) |
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Isaac-Franka-Cabinet-Direct-v0 |
Direct |
rl_games (PPO), rsl_rl (PPO), skrl (PPO) |
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Isaac-Humanoid-Direct-v0 |
Direct |
rl_games (PPO), rsl_rl (PPO), skrl (PPO) |
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Isaac-Humanoid-v0 |
Manager Based |
rsl_rl (PPO), rl_games (PPO), skrl (PPO), sb3 (PPO) |
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Isaac-Lift-Cube-Franka-IK-Abs-v0 |
Manager Based |
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Isaac-Lift-Cube-Franka-IK-Rel-v0 |
Manager Based |
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Isaac-Lift-Cube-Franka-v0 |
Isaac-Lift-Cube-Franka-Play-v0 |
Manager Based |
rsl_rl (PPO), skrl (PPO), rl_games (PPO) |
Isaac-Navigation-Flat-Anymal-C-v0 |
Isaac-Navigation-Flat-Anymal-C-Play-v0 |
Manager Based |
rsl_rl (PPO), skrl (PPO) |
Isaac-Open-Drawer-Franka-IK-Abs-v0 |
Manager Based |
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Isaac-Open-Drawer-Franka-IK-Rel-v0 |
Manager Based |
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Isaac-Open-Drawer-Franka-v0 |
Isaac-Open-Drawer-Franka-Play-v0 |
Manager Based |
rsl_rl (PPO), rl_games (PPO), skrl (PPO) |
Isaac-Quadcopter-Direct-v0 |
Direct |
rl_games (PPO), rsl_rl (PPO), skrl (PPO) |
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Isaac-Reach-Franka-IK-Abs-v0 |
Manager Based |
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Isaac-Reach-Franka-IK-Rel-v0 |
Manager Based |
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Isaac-Reach-Franka-v0 |
Isaac-Reach-Franka-Play-v0 |
Manager Based |
rl_games (PPO), rsl_rl (PPO), skrl (PPO) |
Isaac-Reach-UR10-v0 |
Isaac-Reach-UR10-Play-v0 |
Manager Based |
rl_games (PPO), rsl_rl (PPO), skrl (PPO) |
Isaac-Repose-Cube-Allegro-Direct-v0 |
Direct |
rl_games (PPO), rsl_rl (PPO), skrl (PPO) |
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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) |
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Isaac-Repose-Cube-Shadow-OpenAI-FF-Direct-v0 |
Direct |
rl_games (FF), rsl_rl (PPO), skrl (PPO) |
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Isaac-Repose-Cube-Shadow-OpenAI-LSTM-Direct-v0 |
Direct |
rl_games (LSTM) |
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Isaac-Repose-Cube-Shadow-Vision-Direct-v0 |
Isaac-Repose-Cube-Shadow-Vision-Direct-Play-v0 |
Direct |
rsl_rl (PPO), rl_games (VISION) |
Isaac-Shadow-Hand-Over-Direct-v0 |
Direct |
rl_games (PPO), skrl (IPPO, MAPPO, PPO) |
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Isaac-Velocity-Flat-Anymal-B-v0 |
Isaac-Velocity-Flat-Anymal-B-Play-v0 |
Manager Based |
rsl_rl (PPO), skrl (PPO) |
Isaac-Velocity-Flat-Anymal-C-Direct-v0 |
Direct |
rl_games (PPO), rsl_rl (PPO), skrl (PPO) |
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Isaac-Velocity-Flat-Anymal-C-v0 |
Isaac-Velocity-Flat-Anymal-C-Play-v0 |
Manager Based |
rsl_rl (PPO), rl_games (PPO), skrl (PPO) |
Isaac-Velocity-Flat-Anymal-D-v0 |
Isaac-Velocity-Flat-Anymal-D-Play-v0 |
Manager Based |
rsl_rl (PPO), skrl (PPO) |
Isaac-Velocity-Flat-Cassie-v0 |
Isaac-Velocity-Flat-Cassie-Play-v0 |
Manager Based |
rsl_rl (PPO), skrl (PPO) |
Isaac-Velocity-Flat-G1-v0 |
Isaac-Velocity-Flat-G1-Play-v0 |
Manager Based |
rsl_rl (PPO), skrl (PPO) |
Isaac-Velocity-Flat-H1-v0 |
Isaac-Velocity-Flat-H1-Play-v0 |
Manager Based |
rsl_rl (PPO), skrl (PPO) |
Isaac-Velocity-Flat-Spot-v0 |
Isaac-Velocity-Flat-Spot-Play-v0 |
Manager Based |
rsl_rl (PPO), skrl (PPO) |
Isaac-Velocity-Flat-Unitree-A1-v0 |
Isaac-Velocity-Flat-Unitree-A1-Play-v0 |
Manager Based |
rsl_rl (PPO), skrl (PPO) |
Isaac-Velocity-Flat-Unitree-Go1-v0 |
Isaac-Velocity-Flat-Unitree-Go1-Play-v0 |
Manager Based |
rsl_rl (PPO), skrl (PPO) |
Isaac-Velocity-Flat-Unitree-Go2-v0 |
Isaac-Velocity-Flat-Unitree-Go2-Play-v0 |
Manager Based |
rsl_rl (PPO), skrl (PPO) |
Isaac-Velocity-Rough-Anymal-B-v0 |
Isaac-Velocity-Rough-Anymal-B-Play-v0 |
Manager Based |
rsl_rl (PPO), skrl (PPO) |
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) |
Isaac-Velocity-Rough-Anymal-D-v0 |
Isaac-Velocity-Rough-Anymal-D-Play-v0 |
Manager Based |
rsl_rl (PPO), skrl (PPO) |
Isaac-Velocity-Rough-Cassie-v0 |
Isaac-Velocity-Rough-Cassie-Play-v0 |
Manager Based |
rsl_rl (PPO), skrl (PPO) |
Isaac-Velocity-Rough-G1-v0 |
Isaac-Velocity-Rough-G1-Play-v0 |
Manager Based |
rsl_rl (PPO), skrl (PPO) |
Isaac-Velocity-Rough-H1-v0 |
Isaac-Velocity-Rough-H1-Play-v0 |
Manager Based |
rsl_rl (PPO), skrl (PPO) |
Isaac-Velocity-Rough-Unitree-A1-v0 |
Isaac-Velocity-Rough-Unitree-A1-Play-v0 |
Manager Based |
rsl_rl (PPO), skrl (PPO) |
Isaac-Velocity-Rough-Unitree-Go1-v0 |
Isaac-Velocity-Rough-Unitree-Go1-Play-v0 |
Manager Based |
rsl_rl (PPO), skrl (PPO) |
Isaac-Velocity-Rough-Unitree-Go2-v0 |
Isaac-Velocity-Rough-Unitree-Go2-Play-v0 |
Manager Based |
rsl_rl (PPO), skrl (PPO) |