[asset-badge]: https://img.shields.io/badge/download%20asset-yes-blue.svg
[dense-reward-badge]: https://img.shields.io/badge/dense%20reward-yes-green.svg
[sparse-reward-badge]: https://img.shields.io/badge/sparse%20reward-yes-green.svg
[no-dense-reward-badge]: https://img.shields.io/badge/dense%20reward-no-red.svg
[no-sparse-reward-badge]: https://img.shields.io/badge/sparse%20reward-no-red.svg
[demos-badge]: https://img.shields.io/badge/demos-yes-green.svg
# Drawing Tasks
These are tasks where the robot is controlled to draw a specific shape or pattern.
The document here has both a high-level overview/list of all tasks in a table as well as detailed task cards with video demonstrations after.
## Task Table
Table of all tasks/environments in this category. Task column is the environment ID, Preview is a thumbnail pair of the first and last frames of an example success demonstration. Max steps is the task's default max episode steps, generally tuned for RL workflows.
## TableTopFreeDraw-v1
![no-dense-reward][no-dense-reward-badge]
![no-sparse-reward][no-sparse-reward-badge]
:::{dropdown} Task Card
:icon: note
:color: primary
**Task Description:**
Instantiates a table with a white canvas on it and a robot with a stick that draws red lines. This environment is primarily for a reference / for others to copy
to make their own drawing tasks.
**Randomizations:**
None
**Success Conditions:**
None
**Goal Specification:**
None
:::
## DrawSVG-v1
![no-dense-reward][no-dense-reward-badge]
![sparse-reward][sparse-reward-badge]
:::{dropdown} Task Card
:icon: note
:color: primary
**Task Description:**
Instantiates a table with a white canvas on it and a svg path specified with an outline. A robot with a stick is to draw the triangle with a red line.
**Randomizations:**
- the goal svg's position on the xy-plane is randomized
- the goal svg's z-rotation is randomized in range [0, 2 $\pi$]
**Success Conditions:**
- the drawn points by the robot are within a euclidean distance of 0.05m with points on the goal svg
:::
## DrawTriangle-v1
![no-dense-reward][no-dense-reward-badge]
![sparse-reward][sparse-reward-badge]
![demos][demos-badge]
:::{dropdown} Task Card
:icon: note
:color: primary
**Task Description:**
Instantiates a table with a white canvas on it and a goal triangle with an outline. A robot with a stick is to draw the triangle with a red line.
**Randomizations:**
- the goal triangle's position on the xy-plane is randomized
- the goal triangle's z-rotation is randomized in range [0, 2 $\pi$]
**Success Conditions:**
- the drawn points by the robot are within a euclidean distance of 0.05m with points on the goal triangle
:::
