Gymnasium interface changes #228
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| # Define objects to initialize in the environment | ||
| objects = [ |
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this needs some more engineering. Perhaps objects that do not have worlds yet? Please prepare a short discussion of this kind of problem for the next pycram meeting
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| # Define default parameters for each action | ||
| default_params = { | ||
| "navigate": {"target_pose": Pose(position=[1.0, 2.0, 0.0], orientation=[0.0, 0.0, 0.0, 1.0])}, |
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these should be function points in my opinion and not key-value stores
| :type reward_function: callable | ||
| """ | ||
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| def __init__(self, actions, default_params=None, objects=None, reward_function=None): |
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use function points instead, talk with @Leusmann how to do so
| calculations. | ||
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| :param actions: List of valid action classes or functions (e.g., [NavigateAction, PickUpAction]). | ||
| :type actions: list |
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annotate types in the constructor, not in the docstring.
| """ | ||
| Resets the environment. | ||
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| :return: The initial state of the environment. |
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this docstring should be inherited from the super class
| def _place(self, params): | ||
| """ | ||
| Places an object at a target location. | ||
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types 👏 in 👏 the 👏 signature 👏
| def _open(self, params): | ||
| """ | ||
| Opens an object (e.g., a drawer or door). | ||
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types 👏 in 👏 the 👏 signature 👏
| """ | ||
| Closes an object (e.g., a drawer or door). | ||
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| :param params: Parameters for the close action, including "handle_desig" and "arm". |
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types 👏 in 👏 the 👏 signature 👏
| Resets the simulation environment dynamically by clearing the world and adding new objects. | ||
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| :param objects: List of objects to be added to the environment. | ||
| :type objects: list[dict] |
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types 👏 in 👏 the 👏 signature 👏
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Generally the structure here is very repetitive with pycram designators, this should not be
| @@ -0,0 +1,2 @@ | |||
| from gymnasium_interface.pycram_gym_env import PyCRAMGymEnv | |||
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| import logging | |||
| from gymnasium_interface.pycram_gym_env import PyCRAMGymEnv | |||
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Make these relative imports
| from pycram.datastructures.pose import Pose | ||
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| # Configure logging | ||
| logging.basicConfig(level=logging.INFO, format="%(asctime)s - %(levelname)s - %(message)s") |
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Use the logging from pycram.ros.logging instead of the Python logging
| Handles task execution in a PyCRAM environment. This class integrates with BulletWorld | ||
| for managing objects and robot tasks in the simulation. | ||
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| Attributes: |
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Use rst syntax for the doc string
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| from pycram.worlds.bullet_world import BulletWorld | |||
| from pycram.world_concepts.world_object import Object | |||
| from typing import Dict, List, Union | ||
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| # Configure logging | ||
| logging.basicConfig(level=logging.INFO, format="%(asctime)s - %(levelname)s - %(message)s") |
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Use logging from pycram.ros.logging
| self.clear_world() | ||
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| # Reload the apartment URDF | ||
| self.apartment = Object("apartment", "environment", "apartment.urdf") |
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Use ObjectType.ENVIRONMENT instead of the string
| else: | ||
| raise ValueError(f"Unknown action: {action}") | ||
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| def _navigate(self, params: Dict[str, Pose]) -> None: |
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Why don't you execute the action directly?
This pull request introduces the gymnasium_interface module, which includes the following files:
**- example.py: An example file for using the Gymnasium interface.
These files are added as part of integrating the Gymnasium interface into the existing PyCRAM system. The new module will allow interaction with Gym environments, enabling reinforcement learning and other task execution capabilities.
Additionally, I have ensured that only the necessary files related to the Gymnasium interface have been pushed, without including the entire dev branch.