From 42e16e20a71af424fbc36281888a8c6f1f6db7e8 Mon Sep 17 00:00:00 2001 From: Melvin Laux Date: Thu, 27 Jun 2024 21:43:22 +0200 Subject: [PATCH 1/4] Fix typos --- deformable_gym/__init__.py | 54 ++++++++++++++++++++++++++++++++++++++ 1 file changed, 54 insertions(+) diff --git a/deformable_gym/__init__.py b/deformable_gym/__init__.py index 6b6b848..6105ec8 100644 --- a/deformable_gym/__init__.py +++ b/deformable_gym/__init__.py @@ -9,6 +9,15 @@ }, ) +register( + id="FloatingMiaGraspPillow-v0", + entry_point="deformable_gym.envs.floating_mia_grasp_env:FloatingMiaGraspEnv", + kwargs={ + "object_name": "pillow_small", + "observable_object_pos": True, + }, +) + register( id="FloatingShadowGraspInsole-v0", entry_point="deformable_gym.envs.floating_shadow_grasp_env:FloatingShadowGraspEnv", @@ -17,3 +26,48 @@ "observable_object_pos": True, }, ) + +register( + id="FloatingShadowGraspPillow-v0", + entry_point="deformable_gym.envs.floating_shadow_grasp_env:FloatingShadowGraspEnv", + kwargs={ + "object_name": "pillow_small", + "observable_object_pos": True, + }, +) + +register( + id="URMiaGraspInsole-v0", + entry_point="deformable_gym.envs.ur5_mia_grasp_env:UR5MiaGraspEnv", + kwargs={ + "object_name": "insole_on_conveyor_belt/back", + "observable_object_pos": True, + }, +) + +register( + id="URMiaGraspPillow-v0", + entry_point="deformable_gym.envs.ur5_mia_grasp_env:UR5MiaGraspEnv", + kwargs={ + "object_name": "pillow_small", + "observable_object_pos": True, + }, +) + +register( + id="URShadowGraspInsole-v0", + entry_point="deformable_gym.envs.ur10_shadow_grasp_env:UR10ShadowGraspEnv", + kwargs={ + "object_name": "insole_on_conveyor_belt/back", + "observable_object_pos": True, + }, +) + +register( + id="URShadowGraspPillow-v0", + entry_point="deformable_gym.envs.ur10_shadow_grasp_env:UR10ShadowGraspEnv", + kwargs={ + "object_name": "pillow_small", + "observable_object_pos": True, + }, +) From 8cf9b8c604be7b671eac1b432145c2edf7356bf2 Mon Sep 17 00:00:00 2001 From: Melvin Laux Date: Thu, 27 Jun 2024 21:44:10 +0200 Subject: [PATCH 2/4] Update examples to use registered envs --- examples/ur10_shadow_grasp_example.py | 10 ++++++---- examples/ur5_mia_grasp_example.py | 10 ++++++---- 2 files changed, 12 insertions(+), 8 deletions(-) diff --git a/examples/ur10_shadow_grasp_example.py b/examples/ur10_shadow_grasp_example.py index 184f7d1..b3e3dc0 100644 --- a/examples/ur10_shadow_grasp_example.py +++ b/examples/ur10_shadow_grasp_example.py @@ -1,16 +1,18 @@ +import gymnasium as gym + from deformable_gym.envs.ur10_shadow_grasp_env import UR10ShadowGraspEnv """ ========= -Floating Mia Example +UR10 Shadow Example ========= -This is an example of how to use the FloatingMiaGraspEnv. A random policy is then -used to generate ten episodes. +This is an example of how to use the URShadowGraspInsole environment. A random +policy is then used to generate ten episodes. """ -env = UR10ShadowGraspEnv(gui=True, object_name="insole") +env = gym.make("URShadowGraspPillow-v0") env.reset() episode_return = 0 diff --git a/examples/ur5_mia_grasp_example.py b/examples/ur5_mia_grasp_example.py index 68335ee..4e1b5de 100644 --- a/examples/ur5_mia_grasp_example.py +++ b/examples/ur5_mia_grasp_example.py @@ -1,16 +1,18 @@ +import gymnasium as gym + from deformable_gym.envs.ur5_mia_grasp_env import UR5MiaGraspEnv """ ========= -Floating Mia Example +UR5 Mia Example ========= -This is an example of how to use the FloatingMiaGraspEnv. A random policy is then -used to generate ten episodes. +This is an example of how to use the URMiaGraspInsole environment. A random +policy is then used to generate ten episodes. """ -env = UR5MiaGraspEnv(gui=True, object_name="insole2") +env = gym.make("URMiaGraspPillow-v0") env.reset() episode_return = 0 From 44a621c0428a79c19bc300362df2d4102aa07b51 Mon Sep 17 00:00:00 2001 From: Melvin Laux Date: Thu, 27 Jun 2024 21:47:39 +0200 Subject: [PATCH 3/4] Update example documentation --- examples/floating_mia_example.py | 8 ++++---- examples/floating_shadow_example.py | 8 ++++---- examples/uniform_initialisation_example.py | 10 ---------- examples/ur10_shadow_grasp_example.py | 6 +++--- examples/ur5_mia_grasp_example.py | 4 ++-- 5 files changed, 13 insertions(+), 23 deletions(-) diff --git a/examples/floating_mia_example.py b/examples/floating_mia_example.py index a25b15e..c28edaf 100644 --- a/examples/floating_mia_example.py +++ b/examples/floating_mia_example.py @@ -3,12 +3,12 @@ from deformable_gym.envs.floating_mia_grasp_env import FloatingMiaGraspEnv """ -========= +================================================================ Floating Mia Example -========= +================================================================ -This is an example of how to use the FloatingMiaGraspEnv. A random policy is -then used to generate ten episodes. +This is an example of how to use the FloatingMiaGraspInsole environment. A +random policy is then used to generate ten episodes. """ diff --git a/examples/floating_shadow_example.py b/examples/floating_shadow_example.py index 5f62358..caae628 100644 --- a/examples/floating_shadow_example.py +++ b/examples/floating_shadow_example.py @@ -3,12 +3,12 @@ from deformable_gym.envs.floating_shadow_grasp_env import FloatingShadowGraspEnv """ -========= +================================================================ Floating Shadow Example -========= +================================================================ -This is an example of how to use the FloatingShadowGraspEnv. A random policy is then -used to generate ten episodes. +This is an example of how to use the FloatingShadowGraspInsole environment. A +random policy is then used to generate ten episodes. """ diff --git a/examples/uniform_initialisation_example.py b/examples/uniform_initialisation_example.py index d479282..7deca9b 100644 --- a/examples/uniform_initialisation_example.py +++ b/examples/uniform_initialisation_example.py @@ -3,16 +3,6 @@ from deformable_gym.envs.floating_mia_grasp_env import FloatingMiaGraspEnv from deformable_gym.envs.sampler import UniformSampler -""" -========= -Floating Mia Example -========= - -This is an example of how to use the FloatingMiaGraspEnv. A random policy is -then used to generate ten episodes. - -""" - base_initial_pose = FloatingMiaGraspEnv.INITIAL_POSE.copy() low = base_initial_pose.copy() high = base_initial_pose.copy() diff --git a/examples/ur10_shadow_grasp_example.py b/examples/ur10_shadow_grasp_example.py index b3e3dc0..05ec16a 100644 --- a/examples/ur10_shadow_grasp_example.py +++ b/examples/ur10_shadow_grasp_example.py @@ -3,11 +3,11 @@ from deformable_gym.envs.ur10_shadow_grasp_env import UR10ShadowGraspEnv """ -========= +================================================================ UR10 Shadow Example -========= +================================================================ -This is an example of how to use the URShadowGraspInsole environment. A random +This is an example of how to use the URShadowGraspPillow environment. A random policy is then used to generate ten episodes. """ diff --git a/examples/ur5_mia_grasp_example.py b/examples/ur5_mia_grasp_example.py index 4e1b5de..fe88f7f 100644 --- a/examples/ur5_mia_grasp_example.py +++ b/examples/ur5_mia_grasp_example.py @@ -3,9 +3,9 @@ from deformable_gym.envs.ur5_mia_grasp_env import UR5MiaGraspEnv """ -========= +================================================================ UR5 Mia Example -========= +================================================================ This is an example of how to use the URMiaGraspInsole environment. A random policy is then used to generate ten episodes. From db2d57069d0158066efc1d831e19795a973b081a Mon Sep 17 00:00:00 2001 From: Melvin Laux Date: Fri, 28 Jun 2024 18:14:21 +0200 Subject: [PATCH 4/4] Disable static env checker --- deformable_gym/__init__.py | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/deformable_gym/__init__.py b/deformable_gym/__init__.py index 6105ec8..fd80d46 100644 --- a/deformable_gym/__init__.py +++ b/deformable_gym/__init__.py @@ -3,6 +3,7 @@ register( id="FloatingMiaGraspInsole-v0", entry_point="deformable_gym.envs.floating_mia_grasp_env:FloatingMiaGraspEnv", + disable_env_checker=True, kwargs={ "object_name": "insole_on_conveyor_belt/back", "observable_object_pos": True, @@ -12,6 +13,7 @@ register( id="FloatingMiaGraspPillow-v0", entry_point="deformable_gym.envs.floating_mia_grasp_env:FloatingMiaGraspEnv", + disable_env_checker=True, kwargs={ "object_name": "pillow_small", "observable_object_pos": True, @@ -21,6 +23,7 @@ register( id="FloatingShadowGraspInsole-v0", entry_point="deformable_gym.envs.floating_shadow_grasp_env:FloatingShadowGraspEnv", + disable_env_checker=True, kwargs={ "object_name": "insole_on_conveyor_belt/back", "observable_object_pos": True, @@ -30,6 +33,7 @@ register( id="FloatingShadowGraspPillow-v0", entry_point="deformable_gym.envs.floating_shadow_grasp_env:FloatingShadowGraspEnv", + disable_env_checker=True, kwargs={ "object_name": "pillow_small", "observable_object_pos": True, @@ -39,6 +43,7 @@ register( id="URMiaGraspInsole-v0", entry_point="deformable_gym.envs.ur5_mia_grasp_env:UR5MiaGraspEnv", + disable_env_checker=True, kwargs={ "object_name": "insole_on_conveyor_belt/back", "observable_object_pos": True, @@ -48,6 +53,7 @@ register( id="URMiaGraspPillow-v0", entry_point="deformable_gym.envs.ur5_mia_grasp_env:UR5MiaGraspEnv", + disable_env_checker=True, kwargs={ "object_name": "pillow_small", "observable_object_pos": True, @@ -57,6 +63,7 @@ register( id="URShadowGraspInsole-v0", entry_point="deformable_gym.envs.ur10_shadow_grasp_env:UR10ShadowGraspEnv", + disable_env_checker=True, kwargs={ "object_name": "insole_on_conveyor_belt/back", "observable_object_pos": True, @@ -66,6 +73,7 @@ register( id="URShadowGraspPillow-v0", entry_point="deformable_gym.envs.ur10_shadow_grasp_env:UR10ShadowGraspEnv", + disable_env_checker=True, kwargs={ "object_name": "pillow_small", "observable_object_pos": True,