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@Dhoeller19
Dhoeller19 committed Jun 3, 2024
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71 changes: 38 additions & 33 deletions docs/source/features/environments.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -111,39 +111,41 @@ 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-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 |
+------------------------------+----------------------------------------------+-------------------------------------------------------------------------+
+------------------------------+----------------------------------------------+------------------------------------------------------------------------------+
| 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-anymal-b-link| replace:: `Isaac-Velocity-Flat-Anymal-B-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/anymal_b/flat_env_cfg.py>`__
.. |velocity-rough-anymal-b-link| replace:: `Isaac-Velocity-Rough-Anymal-B-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/anymal_b/rough_env_cfg.py>`__
Expand All @@ -166,6 +168,8 @@ Environments based on legged locomotion tasks.
.. |velocity-flat-unitree-go2-link| replace:: `Isaac-Velocity-Flat-Unitree-Go2-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/unitree_go2/flat_env_cfg.py>`__
.. |velocity-rough-unitree-go2-link| replace:: `Isaac-Velocity-Rough-Unitree-Go2-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/unitree_go2/rough_env_cfg.py>`__

.. |velocity-flat-spot-link| replace:: `Isaac-Velocity-Flat-Spot-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/spot/flat_env_cfg.py>`__

.. |velocity-flat-h1-link| replace:: `Isaac-Velocity-Flat-H1-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/h1/flat_env_cfg.py>`__
.. |velocity-rough-h1-link| replace:: `Isaac-Velocity-Rough-H1-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/h1/rough_env_cfg.py>`__

Expand All @@ -182,6 +186,7 @@ Environments based on legged locomotion tasks.
.. |velocity-rough-unitree-go1| image:: ../_static/tasks/locomotion/go1_rough.jpg
.. |velocity-flat-unitree-go2| image:: ../_static/tasks/locomotion/go2_flat.jpg
.. |velocity-rough-unitree-go2| image:: ../_static/tasks/locomotion/go2_rough.jpg
.. |velocity-flat-spot| image:: ../_static/tasks/locomotion/spot_flat.jpg
.. |velocity-flat-h1| image:: ../_static/tasks/locomotion/h1_flat.jpg
.. |velocity-rough-h1| image:: ../_static/tasks/locomotion/h1_rough.jpg

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2 changes: 1 addition & 1 deletion ...saac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/velocity_env_cfg.py
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Original file line number Diff line number Diff line change
Expand Up @@ -76,7 +76,7 @@ class MySceneCfg(InteractiveSceneCfg):
sky_light = AssetBaseCfg(
prim_path="/World/skyLight",
spawn=sim_utils.DomeLightCfg(
intensity=900.0,
intensity=750.0,
texture_file=f"{ISAAC_NUCLEUS_DIR}/Materials/Textures/Skies/PolyHaven/kloofendal_43d_clear_puresky_4k.hdr",
),
)
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