2. Environments

Test Out Environments

We provide a simple script 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 env_viewer.py --env "FeedingJaco-v0"

Environments

4 assistive tasks (ScratchItch, BedBathing, Feeding, Drinking).
2 commercial robots (PR2, Jaco).
3 human states for training: static, active or new (Revised Biomechanics); 3 states for VR testing): static VR, active VR or new VR (Revised Biomechanics).
48 total combinations
Static human environment names: [task][robot]-v0
Active human environment names: [task][robot]Human-v0
New human environment names: [task][robot]New-v0
Static VR human environment names: [task]VR[robot]-v0
Active VR human environment names: [task]VR[robot]Human-v0
New VR human environment names: [task]VR[robot]New-v0

Itch Scratching Assistance

Static human
ScratchItchPR2-v0, ScratchItchJaco-v0, ScratchItchVRPR2-v0, ScratchItchVRJaco-v0
New human
ScratchItchPR2New-v0, ScratchItchJacoNew-v0, ScratchItchVRPR2New-v0, ScratchItchVRJacoNew-v0
Active human
ScratchItchPR2Human-v0, ScratchItchJacoHuman-v0, ScratchItchVRPR2Human-v0, ScratchItchVRJacoHuman-v0

Bed Bathing Assistance

Static human
BedBathingPR2-v0, BedBathingJaco-v0, BedBathingVRPR2-v0, BedBathingVRJaco-v0
New human
BedBathingPR2New-v0, BedBathingJacoNew-v0, BedBathingVRPR2New-v0, BedBathingVRJacoNew-v0
Active human
BedBathingPR2Human-v0, BedBathingJacoHuman-v0, BedBathingVRPR2Human-v0, BedBathingVRJacoHuman-v0

Feeding Assistance

Static human
FeedingPR2-v0, FeedingJaco-v0, FeedingVRPR2-v0, FeedingVRJaco-v0
New human
FeedingPR2New-v0, FeedingJacoNew-v0, FeedingVRPR2New-v0, FeedingVRJacoNew-v0
Active human
FeedingPR2Human-v0, FeedingJacoHuman-v0, FeedingVRPR2Human-v0, FeedingVRJacoHuman-v0

Drinking Assistance

Static human
DrinkingPR2-v0, DrinkingJaco-v0, DrinkingVRPR2-v0, DrinkingVRJaco-v0
New human
DrinkingPR2New-v0, DrinkingJacoNew-v0, DrinkingVRPR2New-v0, DrinkingVRJacoNew-v0
Active human
DrinkingPR2Human-v0, DrinkingJacoHuman-v0, DrinkingVRPR2Human-v0, DrinkingVRJacoHuman-v0