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Merge pull request #50 from dfki-ric/feature/register_default_envs
Feature/register default envs
2 parents a80594e + 0297a52 commit d87402e

6 files changed

+88
-32
lines changed

‎deformable_gym/__init__.py

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@@ -3,17 +3,79 @@
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register(
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id="FloatingMiaGraspInsole-v0",
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entry_point="deformable_gym.envs.floating_mia_grasp_env:FloatingMiaGraspEnv",
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disable_env_checker=True,
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kwargs={
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"object_name": "insole_on_conveyor_belt/back",
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"observable_object_pos": True,
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},
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)
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register(
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id="FloatingMiaGraspPillow-v0",
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entry_point="deformable_gym.envs.floating_mia_grasp_env:FloatingMiaGraspEnv",
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disable_env_checker=True,
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kwargs={
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"object_name": "pillow_small",
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"observable_object_pos": True,
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},
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)
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register(
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id="FloatingShadowGraspInsole-v0",
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entry_point="deformable_gym.envs.floating_shadow_grasp_env:FloatingShadowGraspEnv",
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disable_env_checker=True,
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kwargs={
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"object_name": "insole_on_conveyor_belt/back",
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"observable_object_pos": True,
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},
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)
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register(
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id="FloatingShadowGraspPillow-v0",
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entry_point="deformable_gym.envs.floating_shadow_grasp_env:FloatingShadowGraspEnv",
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disable_env_checker=True,
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kwargs={
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"object_name": "pillow_small",
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"observable_object_pos": True,
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},
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)
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register(
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id="URMiaGraspInsole-v0",
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entry_point="deformable_gym.envs.ur5_mia_grasp_env:UR5MiaGraspEnv",
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disable_env_checker=True,
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kwargs={
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"object_name": "insole_on_conveyor_belt/back",
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"observable_object_pos": True,
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},
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)
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register(
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id="URMiaGraspPillow-v0",
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entry_point="deformable_gym.envs.ur5_mia_grasp_env:UR5MiaGraspEnv",
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disable_env_checker=True,
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kwargs={
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"object_name": "pillow_small",
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"observable_object_pos": True,
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},
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)
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register(
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id="URShadowGraspInsole-v0",
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entry_point="deformable_gym.envs.ur10_shadow_grasp_env:UR10ShadowGraspEnv",
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disable_env_checker=True,
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kwargs={
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"object_name": "insole_on_conveyor_belt/back",
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"observable_object_pos": True,
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},
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)
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register(
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id="URShadowGraspPillow-v0",
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entry_point="deformable_gym.envs.ur10_shadow_grasp_env:UR10ShadowGraspEnv",
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disable_env_checker=True,
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kwargs={
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"object_name": "pillow_small",
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"observable_object_pos": True,
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},
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)

‎examples/floating_mia_example.py

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Original file line numberDiff line numberDiff line change
@@ -3,13 +3,12 @@
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from deformable_gym.envs.floating_mia_grasp_env import FloatingMiaGraspEnv
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"""
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=========
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================================================================
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Floating Mia Example
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=========
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This is an example of how to use the FloatingMiaGraspEnv. A random policy is
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then used to generate ten episodes.
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================================================================
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This is an example of how to use the FloatingMiaGraspInsole environment. A
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random policy is then used to generate ten episodes.
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"""
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env = gymnasium.make("FloatingMiaGraspInsole-v0", render_mode="human")

‎examples/floating_shadow_example.py

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@@ -3,13 +3,12 @@
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from deformable_gym.envs.floating_shadow_grasp_env import FloatingShadowGraspEnv
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"""
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=========
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================================================================
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Floating Shadow Example
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=========
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This is an example of how to use the FloatingShadowGraspEnv. A random policy is then
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used to generate ten episodes.
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================================================================
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This is an example of how to use the FloatingShadowGraspInsole environment. A
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random policy is then used to generate ten episodes.
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"""
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env = gymnasium.make("FloatingShadowGraspInsole-v0", render_mode="human")

‎examples/uniform_initialisation_example.py

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@@ -3,16 +3,6 @@
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from deformable_gym.envs.floating_mia_grasp_env import FloatingMiaGraspEnv
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from deformable_gym.envs.sampler import UniformSampler
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"""
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=========
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Floating Mia Example
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=========
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This is an example of how to use the FloatingMiaGraspEnv. A random policy is
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then used to generate ten episodes.
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"""
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base_initial_pose = FloatingMiaGraspEnv.INITIAL_POSE.copy()
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low = base_initial_pose.copy()
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high = base_initial_pose.copy()

‎examples/ur10_shadow_grasp_example.py

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@@ -1,16 +1,19 @@
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import gymnasium as gym
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from deformable_gym.envs.ur10_shadow_grasp_env import UR10ShadowGraspEnv
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"""
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=========
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Floating Mia Example
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=========
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================================================================
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UR10 Shadow Example
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================================================================
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8-
This is an example of how to use the FloatingMiaGraspEnv. A random policy is then
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used to generate ten episodes.
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This is an example of how to use the URShadowGraspPillow environment. A random
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policy is then used to generate ten episodes.
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"""
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env = UR10ShadowGraspEnv(object_name="insole")
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env = gym.make("URShadowGraspPillow-v0")
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env.reset()
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episode_return = 0

‎examples/ur5_mia_grasp_example.py

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@@ -1,16 +1,19 @@
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import gymnasium as gym
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from deformable_gym.envs.ur5_mia_grasp_env import UR5MiaGraspEnv
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"""
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=========
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Floating Mia Example
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=========
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================================================================
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UR5 Mia Example
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================================================================
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8-
This is an example of how to use the FloatingMiaGraspEnv. A random policy is then
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used to generate ten episodes.
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This is an example of how to use the URMiaGraspInsole environment. A random
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policy is then used to generate ten episodes.
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"""
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env = UR5MiaGraspEnv(object_name="insole2")
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env = gym.make("URMiaGraspPillow-v0")
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env.reset()
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episode_return = 0

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