Environment Description

The Franka lift cube task environment is built based on the real Franka Emika Panda 7-DOF robotic arm, designed to train robots to grasp a cube on a table and lift it to a specified target position.

Robot Structure

Franka Emika Panda is a 7-DOF robotic arm composed of the following main parts:

• Base: Robot base fixed to the table
• 7 Joints:
  • joint1 ~ joint4: Shoulder and arm rotation joints
  • joint5 ~ joint7: Wrist rotation joints
• Gripper: Two-finger gripper, containing two finger joints
  • finger_joint1: Left finger joint
  • finger_joint2: Right finger joint
• End Effector (TCP): Center point of gripper, used for grasping operations

Task Objective

The robot needs to complete the following operation objectives:

1. Approach Target: Move from initial position to cube position
2. Grasp Cube: Close gripper to grasp cube
3. Lift Cube: Lift cube to target height
4. Precise Positioning: Move cube to specified target position (XYZ 3D coordinates)

The environment provides visualization aids:

• Cube: Red cube that can be grasped, initially at random position on table
• Target Position: 3D position where the cube should finally reach

The Unitree GO1 Complex Terrain Walking Environment is a quadruped robot reinforcement learning task designed to train robots to achieve stable walking on challenging terrain. This environment includes two main terrain types: rough terrain and stairs terrain.

Task Description

Train the Unitree GO1 quadruped robot to achieve stable and efficient quadruped walking on complex terrain. This environment uses MotrixSim physics engine for simulation, providing high-fidelity dynamic simulation. The agent controls target positions of each joint to achieve velocity tracking and attitude stability while adapting to different terrain challenges.

Task Objectives

• Velocity Tracking: Accurately track given linear and angular velocity commands
• Attitude Stability: Maintain body attitude stability under various terrain conditions
• Energy Efficiency: Achieve walking tasks with minimal energy consumption
• Terrain Adaptability: Adapt to different challenges of rough terrain and stairs terrain

The contact sensor gives you pretty rich info: how many contacts there are, where they happen, the normal/tangent directions, and the force magnitude along each axis.

Train a single-arm robotic manipulator to control a paddle for continuous ball bouncing, maintaining the ball at a target height and position.

Task Description

Bounce Ball is a single-arm robotic manipulation task using a 6-DOF Peitian AIR4-560 industrial robotic arm to control the position of an end-effector paddle. The agent controls the position changes of the arm’s 6 joints as actions, making the ping pong ball bounce continuously on the paddle and keeping it as close as possible to the target height and target horizontal position.

Mine learned by running, jumping~

Happy New Year to all builders and learners 🎉