2. Environments

Test Out Environments

We provide a simple script env_viewer.py for visualizing the various environments available in Assistive Gym.
The below command will render a wheelchair-mounted Jaco robot taking random actions within a feeding assistance environment with a static person.

python3 -m assistive_gym --env "FeedingJaco-v1"

You can also test these environments in this Google Colab notebook by changing the following line:

env = gym.make('FeedingJaco-v1')

Environments

6 assistive tasks (ScratchItch, BedBathing, Feeding, Drinking, Dressing, and ArmManipulation).
6 commercial robots (PR2, Jaco, Baxter, Sawyer, Stretch, Panda).
2 human states: static or active (takes actions according to a separate control policy).
72 total combinations
Static human environment names: [task][robot]-v1
Active human environment names: [task][robot]Human-v1

Itch Scratching Assistance

Static human
ScratchItchPR2-v1, ScratchItchJaco-v1, ScratchItchBaxter-v1, ScratchItchSawyer-v1, ScratchItchStretch-v1, ScratchItchPanda-v1
Active human
ScratchItchPR2Human-v1, ScratchItchJacoHuman-v1, ScratchItchBaxterHuman-v1, ScratchItchSawyerHuman-v1, ScratchItchStretchHuman-v1, ScratchItchPandaHuman-v1

Bed Bathing Assistance

Static human
BedBathingPR2-v1, BedBathingJaco-v1, BedBathingBaxter-v1, BedBathingSawyer-v1, BedBathingStretch-v1, BedBathingPanda-v1
Active human
BedBathingPR2Human-v1, BedBathingJacoHuman-v1, BedBathingBaxterHuman-v1, BedBathingSawyerHuman-v1, BedBathingStretchHuman-v1, BedBathingPandaHuman-v1

Feeding Assistance

Static human
FeedingPR2-v1, FeedingJaco-v1, FeedingBaxter-v1, FeedingSawyer-v1, FeedingStretch-v1, FeedingPanda-v1
Active human
FeedingPR2Human-v1, FeedingJacoHuman-v1, FeedingBaxterHuman-v1, FeedingSawyerHuman-v1, FeedingStretchHuman-v1, FeedingPandaHuman-v1

Drinking Assistance

Static human
DrinkingPR2-v1, DrinkingJaco-v1, DrinkingBaxter-v1, DrinkingSawyer-v1, DrinkingStretch-v1, DrinkingPanda-v1
Active human
DrinkingPR2Human-v1, DrinkingJacoHuman-v1, DrinkingBaxterHuman-v1, DrinkingSawyerHuman-v1, DrinkingStretchHuman-v1, DrinkingPandaHuman-v1

Dressing Assistance

Static human
DressingPR2-v1, DressingJaco-v1, DressingBaxter-v1, DressingSawyer-v1, DressingStretch-v1, DressingPanda-v1
Active human
DressingPR2Human-v1, DressingJacoHuman-v1, DressingBaxterHuman-v1, DressingSawyerHuman-v1, DressingStretchHuman-v1, DressingPandaHuman-v1

Arm Manipulation Assistance

Static human
ArmManipulationPR2-v1, ArmManipulationJaco-v1, ArmManipulationBaxter-v1, ArmManipulationSawyer-v1, ArmManipulationStretch-v1, ArmManipulationPanda-v1
Active human
ArmManipulationPR2Human-v1, ArmManipulationJacoHuman-v1, ArmManipulationBaxterHuman-v1, ArmManipulationSawyerHuman-v1, ArmManipulationStretchHuman-v1, ArmManipulationPandaHuman-v1