[docs]class Tasks:
def __init__(self, env_type="isaacgym"):
if env_type == "isaacgym":
# Isaac Gym tasks
from .isaacgymenv.ant import AntTask
from .isaacgymenv.cartpole import CartpoleTask
from .isaacgymenv.curi_cabinet import CURICabinetTask
from .isaacgymenv.curi_cabinet_image import CURICabinetImageTask
from .isaacgymenv.curi_cabinet_bimanual import CURICabinetBimanualTask
from .isaacgymenv.curi_coffee_stirring import CURICoffeeStirringTask
from .isaacgymenv.franka_cabinet import FrankaCabinetTask
from .isaacgymenv.franka_cube_stack import FrankaCubeStackTask
from .isaacgymenv.humanoid import HumanoidTask
from .isaacgymenv.humanoid_amp import HumanoidAMPTask
from .isaacgymenv.ase.humanoid_amp_getup import HumanoidAMPGetupTask
from .isaacgymenv.ase.humanoid_perturb import HumanoidPerturbTask
from .isaacgymenv.ase.humanoid_heading import HumanoidHeadingTask
from .isaacgymenv.ase.humanoid_location import HumanoidLocationTask
from .isaacgymenv.ase.humanoid_reach import HumanoidReachTask
from .isaacgymenv.ase.humanoid_strike import HumanoidStrikeTask
from .isaacgymenv.ase.humanoid_view_motion import HumanoidASEViewMotionTask
from .isaacgymenv.physhoi.humanoid_physhoi import HumanoidPhysHOITask
# from .isaacgymenv.physhoi.physhoi import PhysHOI_BallPlay
from .isaacgymenv.hotu.humanoid_hotu import HumanoidHOTUTask
from .isaacgymenv.hotu.humanoid_view_motion import HumanoidHOTUViewMotionTask
from .isaacgymenv.hands.shadow_hand_block_stack import ShadowHandBlockStackTask
from .isaacgymenv.hands.shadow_hand_bottle_cap import ShadowHandBottleCapTask
from .isaacgymenv.hands.shadow_hand_catch_abreast import ShadowHandCatchAbreastTask
from .isaacgymenv.hands.shadow_hand_catch_over2underarm import ShadowHandCatchOver2UnderarmTask
from .isaacgymenv.hands.shadow_hand_catch_underarm import ShadowHandCatchUnderarmTask
from .isaacgymenv.hands.shadow_hand_door_open_inward import ShadowHandDoorOpenInwardTask
from .isaacgymenv.hands.shadow_hand_door_open_outward import ShadowHandDoorOpenOutwardTask
from .isaacgymenv.hands.shadow_hand_door_close_inward import ShadowHandDoorCloseInwardTask
from .isaacgymenv.hands.shadow_hand_door_close_outward import ShadowHandDoorCloseOutwardTask
from .isaacgymenv.hands.shadow_hand_grasp_and_place import ShadowHandGraspAndPlaceTask
from .isaacgymenv.hands.shadow_hand_lift_underarm import ShadowHandLiftUnderarmTask
from .isaacgymenv.hands.shadow_hand_over import ShadowHandOverTask
from .isaacgymenv.hands.shadow_hand_pen import ShadowHandPenTask
from .isaacgymenv.hands.shadow_hand_point_cloud import ShadowHandPointCloudTask
from .isaacgymenv.hands.shadow_hand_push_block import ShadowHandPushBlockTask
from .isaacgymenv.hands.shadow_hand_re_orientation import ShadowHandReOrientationTask
from .isaacgymenv.hands.shadow_hand_scissors import ShadowHandScissorsTask
from .isaacgymenv.hands.shadow_hand_swing_cup import ShadowHandSwingCupTask
from .isaacgymenv.hands.shadow_hand_switch import ShadowHandSwitchTask
from .isaacgymenv.hands.shadow_hand_two_catch_underarm import ShadowHandTwoCatchUnderarmTask
from .isaacgymenv.hands.qbsofthand_grasp import QbSoftHandGraspTask
from .isaacgymenv.hands.bi_qbhand_grasp_and_place import BiQbSoftHandGraspAndPlaceTask
from .isaacgymenv.hands.bi_qbhand_synergy_grasp import BiQbSoftHandSynergyGraspTask
from .isaacgymenv.hands.qbhand_synergy_grasp import QbSoftHandSynergyGraspTask
from .isaacgymenv.hands.shadow_hand_grasp import ShadowHandGraspTask
from .isaacgymenv.grasp.curi_qbhand_synergy_grasp import CURIQbSoftHandSynergyGraspTask
self.task_map = {
"Ant": AntTask,
"Cartpole": CartpoleTask,
"FrankaCabinet": FrankaCabinetTask,
"FrankaCubeStack": FrankaCubeStackTask,
"CURICabinet": CURICabinetTask,
"CURICabinetImage": CURICabinetImageTask,
"CURICabinetBimanual": CURICabinetBimanualTask,
"CURICoffeeStirring": CURICoffeeStirringTask,
"Humanoid": HumanoidTask,
"HumanoidAMP": HumanoidAMPTask,
"HumanoidASEGetupSwordShield": HumanoidAMPGetupTask,
"HumanoidASEPerturbSwordShield": HumanoidPerturbTask,
"HumanoidASEHeadingSwordShield": HumanoidHeadingTask,
"HumanoidASELocationSwordShield": HumanoidLocationTask,
"HumanoidASEReachSwordShield": HumanoidReachTask,
"HumanoidASEStrikeSwordShield": HumanoidStrikeTask,
"HumanoidASEViewMotion": HumanoidASEViewMotionTask,
"HumanoidPhysHOI": HumanoidPhysHOITask,
# "HumanoidPhysHOI": PhysHOI_BallPlay,
"HumanoidHOTU": HumanoidHOTUTask,
"HumanoidHOTUViewMotion": HumanoidHOTUViewMotionTask,
"BiShadowHandOver": ShadowHandOverTask,
"BiShadowHandBlockStack": ShadowHandBlockStackTask,
"BiShadowHandBottleCap": ShadowHandBottleCapTask,
"BiShadowHandCatchAbreast": ShadowHandCatchAbreastTask,
"BiShadowHandCatchOver2Underarm": ShadowHandCatchOver2UnderarmTask,
"BiShadowHandCatchUnderarm": ShadowHandCatchUnderarmTask,
"BiShadowHandDoorOpenInward": ShadowHandDoorOpenInwardTask,
"BiShadowHandDoorOpenOutward": ShadowHandDoorOpenOutwardTask,
"BiShadowHandDoorCloseInward": ShadowHandDoorCloseInwardTask,
"BiShadowHandDoorCloseOutward": ShadowHandDoorCloseOutwardTask,
"BiShadowHandGraspAndPlace": ShadowHandGraspAndPlaceTask,
"BiShadowHandLiftUnderarm": ShadowHandLiftUnderarmTask,
"BiShadowHandPen": ShadowHandPenTask,
"BiShadowHandPointCloud": ShadowHandPointCloudTask,
"BiShadowHandPushBlock": ShadowHandPushBlockTask,
"BiShadowHandReOrientation": ShadowHandReOrientationTask,
"BiShadowHandScissors": ShadowHandScissorsTask,
"BiShadowHandSwingCup": ShadowHandSwingCupTask,
"BiShadowHandSwitch": ShadowHandSwitchTask,
"BiShadowHandTwoCatchUnderarm": ShadowHandTwoCatchUnderarmTask,
"QbSoftHandGrasp": QbSoftHandGraspTask,
"BiQbSoftHandGraspAndPlace": BiQbSoftHandGraspAndPlaceTask,
"BiQbSoftHandSynergyGrasp": BiQbSoftHandSynergyGraspTask,
"QbSoftHandSynergyGrasp": QbSoftHandSynergyGraspTask,
"ShadowHandGrasp": ShadowHandGraspTask,
"CURIQbSoftHandSynergyGrasp": CURIQbSoftHandSynergyGraspTask,
}
elif env_type == "omniisaacgym":
# OmniIsaacGym tasks
from .omniisaacgymenv.allegro_hand import AllegroHandOmniTask
from .omniisaacgymenv.ant import AntOmniTask
from .omniisaacgymenv.anymal import AnymalOmniTask
from .omniisaacgymenv.anymal_terrain import AnymalTerrainOmniTask
from .omniisaacgymenv.ball_balance import BallBalanceOmniTask
from .omniisaacgymenv.cartpole import CartpoleOmniTask
from .omniisaacgymenv.crazyflie import CrazyflieOmniTask
from .omniisaacgymenv.franka_cabinet import FrankaCabinetOmniTask
from .omniisaacgymenv.humanoid import HumanoidOmniTask
from .omniisaacgymenv.ingenuity import IngenuityOmniTask
from .omniisaacgymenv.quadcopter import QuadcopterOmniTask
from .omniisaacgymenv.shadow_hand import ShadowHandOmniTask
from .omniisaacgymenv.factory.factory_task_nut_bolt_pick import FactoryNutBoltPickOmniTask
self.task_map = {
"AllegroHandOmni": AllegroHandOmniTask,
"AntOmni": AntOmniTask,
"AnymalOmni": AnymalOmniTask,
"AnymalTerrainOmni": AnymalTerrainOmniTask,
"BallBalanceOmni": BallBalanceOmniTask,
"CartpoleOmni": CartpoleOmniTask,
"CrazyflieOmni": CrazyflieOmniTask,
"FrankaCabinetOmni": FrankaCabinetOmniTask,
"HumanoidOmni": HumanoidOmniTask,
"IngenuityOmni": IngenuityOmniTask,
"QuadcopterOmni": QuadcopterOmniTask,
"ShadowHandOmni": ShadowHandOmniTask,
"FactoryNutBoltPickOmni": FactoryNutBoltPickOmniTask,
}
