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.

Task	Preview	Dense Reward	Success/Fail Conditions	Demos	Max Episode Steps
TableTopFreeDraw-v1		❌	❌	❌	1000
DrawSVG-v1		❌	✅	❌	500
DrawTriangle-v1		❌	✅	✅	300

TableTopFreeDraw-v1

Task Card

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

Task Card

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

Task Card

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