Merge pull request #14 from UW-Lab/pre-merge

Adding 3 New Tasks to OmniReset

Author: patrickhaoy

docs/source/_static/publications/omnireset/drawer_assembly_training_curve.jpg

@@ -57,6 +57,12 @@ Environments based on fixed-arm manipulation tasks.
     +--------------------------------+------------------------------------------------+------------------------------------------------------------------------------+
     | |omnireset-ur5e-peg-insert|    | |omnireset-ur5e-peg-insert-link|               | Insert a square peg into the square peg hole                                 |
     +--------------------------------+------------------------------------------------+------------------------------------------------------------------------------+
+    | |omnireset-ur5e-rectangle|     | |omnireset-ur5e-rectangle-link|                | Orient a rectangle into desired location during a wall                       |
+    +--------------------------------+------------------------------------------------+------------------------------------------------------------------------------+
+    | |omnireset-ur5e-cupcake|       | |omnireset-ur5e-cupcake-link|                  | Place a cupcake into desired location on a plate                             |
+    +--------------------------------+------------------------------------------------+------------------------------------------------------------------------------+
+    | |omnireset-ur5e-cube-stack|    | |omnireset-ur5e-cube-stack-link|               | Stack one cube on top of another cube in a desired orientation.              |
+    +--------------------------------+------------------------------------------------+------------------------------------------------------------------------------+
 
 .. |track-goal-ur5| image:: ../_static/tasks/manipulation/ur5_track_goal.jpg
 .. |track-goal-tycho| image:: ../_static/tasks/manipulation/tycho_track_goal.jpg
@@ -67,16 +73,22 @@ Environments based on fixed-arm manipulation tasks.
 .. |omnireset-ur5e-drawer| image:: ../_static/tasks/manipulation/omnireset_drawer_assemble.jpg
 .. |omnireset-ur5e-fbleg| image:: ../_static/tasks/manipulation/omnireset_fbleg_screw.jpg
 .. |omnireset-ur5e-peg-insert| image:: ../_static/tasks/manipulation/omnireset_peg_insert.jpg
+.. |omnireset-ur5e-rectangle| image:: ../_static/tasks/manipulation/omnireset_rectangle_reorientation.jpg
+.. |omnireset-ur5e-cupcake| image:: ../_static/tasks/manipulation/omnireset_cupcake_on_plate.jpg
+.. |omnireset-ur5e-cube-stack| image:: ../_static/tasks/manipulation/omnireset_cube_stack.jpg
 
 .. |track-goal-ur5-link| replace:: `UW-Track-Goal-Ur5-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/track_goal/config/ur5/track_goal_ur5_env_cfg.py>`__
 .. |track-goal-tycho-link| replace:: `UW-Track-Goal-Tycho-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/track_goal/config/tycho/tycho_track_goal.py>`__
 .. |track-goal-xarm-leap-link| replace:: `UW-Track-Goal-Xarm-Leap-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/track_goal/config/xarm_leap/track_goal_xarm_leap.py>`__
 .. |ext-nut-thread-franka-link| replace:: `UW-Nut-Thread-Franka-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/factory_extension/nutthread_env_cfg.py>`__
 .. |ext-gear-mesh-franka-link| replace:: `UW-Gear-Mesh-Franka-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/factory_extension/gearmesh_env_cfg.py>`__
 .. |ext-peg-insert-franka-link| replace:: `UW-Peg-Insert-Franka-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/factory_extension/peginsert_env_cfg.py>`__
-.. |omnireset-ur5e-drawer-link| replace:: `OmniReset-Ur5eRobotiq2f85-RelJointPos-State-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/reset_states/config/ur5e_robotiq_2f85/reset_states_cfg.py>`__
-.. |omnireset-ur5e-fbleg-link| replace:: `OmniReset-Ur5eRobotiq2f85-RelJointPos-State-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/reset_states/config/ur5e_robotiq_2f85/reset_states_cfg.py>`__
-.. |omnireset-ur5e-peg-insert-link| replace:: `OmniReset-Ur5eRobotiq2f85-RelJointPos-State-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/reset_states/config/ur5e_robotiq_2f85/reset_states_cfg.py>`__
+.. |omnireset-ur5e-drawer-link| replace:: `OmniReset-Ur5eRobotiq2f85-RelCartesianOSC-State-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/reset_states/config/ur5e_robotiq_2f85/rl_state_cfg.py>`__
+.. |omnireset-ur5e-fbleg-link| replace:: `OmniReset-Ur5eRobotiq2f85-RelCartesianOSC-State-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/reset_states/config/ur5e_robotiq_2f85/rl_state_cfg.py>`__
+.. |omnireset-ur5e-peg-insert-link| replace:: `OmniReset-Ur5eRobotiq2f85-RelCartesianOSC-State-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/reset_states/config/ur5e_robotiq_2f85/rl_state_cfg.py>`__
+.. |omnireset-ur5e-rectangle-link| replace:: `OmniReset-Ur5eRobotiq2f85-RelCartesianOSC-State-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/reset_states/config/ur5e_robotiq_2f85/rl_state_cfg.py>`__
+.. |omnireset-ur5e-cupcake-link| replace:: `OmniReset-Ur5eRobotiq2f85-RelCartesianOSC-State-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/reset_states/config/ur5e_robotiq_2f85/rl_state_cfg.py>`__
+.. |omnireset-ur5e-cube-stack-link| replace:: `OmniReset-Ur5eRobotiq2f85-RelCartesianOSC-State-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/reset_states/config/ur5e_robotiq_2f85/rl_state_cfg.py>`__
 
 
 Locomotion

docs/source/_static/publications/omnireset/peg_training_curve.jpg

@@ -6,7 +6,7 @@ OmniReset
 .. important::
    **Pre-trained RL Checkpoints Available!**
 
-   We provide trained RL checkpoints for all three tasks: **Drawer Assembly**, **Leg Twisting**, and **Peg Insertion**.
+   We provide trained RL checkpoints for all six tasks: **Drawer Assembly**, **Leg Twisting**, **Peg Insertion**, **Rectangle Reorientation on Wall**, **Cupcake on Plate**, and **Cube Stacking**.
    Download the checkpoints and evaluate them immediately!
 
    See the :doc:`instruction` guide for download links and evaluation instructions.
@@ -35,6 +35,27 @@ OmniReset
        </video>
        <p style="margin-top: 10px; font-weight: bold;">Peg Insertion</p>
      </div>
+     <div style="text-align: center;">
+       <video width="350" height="260" controls>
+         <source src="https://s3.us-west-004.backblazeb2.com/uwlab-assets/Media/OmniReset/rectangle.mp4" type="video/mp4">
+         Your browser does not support the video tag.
+       </video>
+       <p style="margin-top: 10px; font-weight: bold;">Rectangle Reorientation on Wall</p>
+     </div>
+     <div style="text-align: center;">
+       <video width="350" height="260" controls>
+         <source src="https://s3.us-west-004.backblazeb2.com/uwlab-assets/Media/OmniReset/cupcake.mp4" type="video/mp4">
+         Your browser does not support the video tag.
+       </video>
+       <p style="margin-top: 10px; font-weight: bold;">Cupcake on Plate</p>
+     </div>
+     <div style="text-align: center;">
+       <video width="350" height="260" controls>
+         <source src="https://s3.us-west-004.backblazeb2.com/uwlab-assets/Media/OmniReset/cube.mp4" type="video/mp4">
+         Your browser does not support the video tag.
+       </video>
+       <p style="margin-top: 10px; font-weight: bold;">Cube Stacking</p>
+     </div>
    </div>
 
 .. note::