env

Environment-related operations.

Synopsis

maple env setup ENV_ID --task TASK [OPTIONS]
maple env reset ENV_ID [OPTIONS]
maple env step ENV_ID --action VALUES [OPTIONS]
maple env stop ENV_ID [OPTIONS]

Subcommands

setup

Setup environment with a specific task.

maple env setup ENV_ID --task TASK [OPTIONS]

Arguments

ENV_ID: ID of running environment

Options

--task, -t TEXT (required): Task specification (e.g., libero_10/0)
--seed, -s INTEGER: Random seed
--port INTEGER: Daemon port to connect to (default: from config, typically 8000)
--env-kwargs, -e STR: Env-specific parameters

Example

maple env setup libero-xyz --task libero_10/0 --seed 42

Output:

✓ Environment setup
  Task: LIVING_ROOM_SCENE_pick_up_the_black_bowl_...
  Instruction: Pick up the black bowl and place it on the plate.

reset

Reset the environment to initial state.

maple env reset ENV_ID [OPTIONS]

Arguments

ENV_ID: ID of running environment

Options

--seed, -s INTEGER: Random seed for reset
--port INTEGER: Daemon port to connect to (default: from config, typically 8000)

Example

maple env reset libero-xyz --seed 42

Output:

✓ Environment reset
  Observation keys: ['agentview_image', 'robot0_eye_in_hand_image', ...]

step

Take a step in the environment.

maple env step ENV_ID --action VALUES [OPTIONS]

Arguments

ENV_ID: ID of running environment

Options

--action, -a STR (required): Action values (specify list of values)
--port INTEGER: Daemon port to connect to (default: from config, typically 8000)

Example

maple env step libero-xyz \
    -a [0.01, -0.02, 0.05, 0.0, 0.0, 0.0, 1.0]

Output:

Step result:
  Reward: 0.0000
  Terminated: False
  Truncated: False
  Success: False

info

Get information about the environment setup in the container.

maple env info ENV_ID [OPTIONS]

Arguments

ENV_ID: ID of environment to get the info

Options

--port INTEGER: Daemon port to connect to (default: from config, typically 8000)

Example

maple env info libero-xyz

Output:

Environment Info:
 Task: LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket
 Suite: libero_10
 Instruction: put both the alphabet soup and the tomato sauce in the basket
 Action space: {'type': 'tuple', 'repr': '(array([-1., -1., -1., -1., -1., -1., -1.]), array([1., 1., 1., 1., 1., 1., 1.]))'}

Notes

You need to run setup on the environment first before calling info.

stop

Stop an environment container.

maple env stop ENV_ID [OPTIONS]

Arguments

ENV_ID: ID of environment to stop

Options

--port INTEGER: Daemon port to connect to (default: from config, typically 8000)

Example

maple env stop libero-xyz

Output:

✓ Stopped: libero-xyz

tasks

Get the list of tasks in a specific environment suite.

maple env tasks backend [OPTIONS]

Arguments

BACKEND: Environment backend to load

Options

--suite TEXT: Specific suite name (if the environment has multiple suites)
--port INTEGER: Daemon port to connect to (default: from config, typically 8000)

Example

maple env tasks libero --suite libero_10

Output:

libero_10
 [0] LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket
     → put both the alphabet soup and the tomato sauce in the basket
 [1] LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket
     → put both the cream cheese box and the butter in the basket
 [2] KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it
     → turn on the stove and put the moka pot on it
 [3] KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it
     → put the black bowl in the bottom drawer of the cabinet and close it
 [4] LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate
     → put the white mug on the left plate and put the yellow and white mug on the right plate
 [5] STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy
     → pick up the book and place it in the back compartment of the caddy
 [6] LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate
     → put the white mug on the plate and put the chocolate pudding to the right of the plate
 [7] LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket
     → put both the alphabet soup and the cream cheese box in the basket
 [8] KITCHEN_SCENE8_put_both_moka_pots_on_the_stove
     → put both moka pots on the stove
 [9] KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it
     → put the yellow and white mug in the microwave and close it