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| [](https://github.com/dfki-ric/deformable_gym/actions/workflows/test.yaml) | ||
| [](https://github.com/psf/black) | ||
| [](https://github.com/pre-commit/pre-commit) | ||
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| # DeformableGym | ||
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| This repository contains a collection of [gymnasium](https://github.com/Farama-Foundation/Gymnasium) environments built with [PyBullet](https://pybullet.org/) and [MuJoCo](https://github.com/google-deepmind/mujoco). | ||
| This repository contains a collection of [gymnasium](https://github.com/Farama-Foundation/Gymnasium) environments built with [PyBullet](https://pybullet.org/) and [MuJoCo](https://github.com/google-deepmind/mujoco). | ||
| In these environments, the agent needs to learn to grasp deformable 3D objects such as shoe insoles or pillows from sparse reward signals. | ||
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| <p align="center"> | ||
| <img src="doc/source/_static/defgym.svg"/> | ||
| </p> | ||
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| ## Installation | ||
| ## Installation | ||
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| ```bash | ||
| git clone [email protected]:dfki-ric/deformable_gym.git | ||
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| ## Available environments | ||
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| | Environment Name | PyBullet | MuJoCo | | ||
| |---------------------------|:-------------------:|:------------------:| | ||
| | FloatingMiaGraspInsole | :heavy_check_mark: | :heavy_check_mark: | | ||
| | FloatingShadowGraspInsole | :heavy_check_mark: | :heavy_check_mark: | | ||
| | FloatingMiaGraspPillow | :heavy_check_mark: | :x: | | ||
| | FloatingShadowGraspPillow | :heavy_check_mark: | :x: | | ||
| | URMiaGraspInsole | :heavy_check_mark: | :x: | | ||
| | URShadowGraspInsole | :heavy_check_mark: | :x: | | ||
| | URMiaGraspPillow | :heavy_check_mark: | :x: | | ||
| | URShadowGraspPillow | :heavy_check_mark: | :x: | | ||
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| | Environment Name | PyBullet | MuJoCo | | ||
| | ------------------------- | :----------------: | :----------------: | | ||
| | FloatingMiaGraspInsole | :heavy_check_mark: | :heavy_check_mark: | | ||
| | FloatingShadowGraspInsole | :heavy_check_mark: | :heavy_check_mark: | | ||
| | FloatingMiaGraspPillow | :heavy_check_mark: | :heavy_check_mark: | | ||
| | FloatingShadowGraspPillow | :heavy_check_mark: | :heavy_check_mark: | | ||
| | URMiaGraspInsole | :heavy_check_mark: | :heavy_check_mark: | | ||
| | URShadowGraspInsole | :heavy_check_mark: | :heavy_check_mark: | | ||
| | URMiaGraspPillow | :heavy_check_mark: | :heavy_check_mark: | | ||
| | URShadowGraspPillow | :heavy_check_mark: | :heavy_check_mark: | | ||
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| ### Known Issues | ||
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| 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 FloatingMiaGraspEnv. A random policy is then | ||
| used to generate ten episodes. | ||
| """ | ||
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| if terminated or truncated: | ||
| print(f"Episode finished with return {episode_return}!") | ||
| num_episodes += 1 | ||
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| env.reset() | ||
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| ``` | ||
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| ## Documentation | ||
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| The documentation can be found in the directory doc. To build the documentation, run e.g. (on linux): | ||
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| ```bash | ||
| cd doc | ||
| make html | ||
| ``` | ||
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| The HTML documentation is now located at doc/build/html/index.html. You need the following packages to build the documentation: | ||
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| ```bash | ||
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| ## Contributing | ||
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| If you wish to report bugs, please use the [issue tracker](https://github.com/dfki-ric/deformable_gym/issues). If you would like to contribute to DeformableGym, just open an issue or a | ||
| [pull request](https://github.com/dfki-ric/deformable_gym/pulls). The target branch for | ||
| merge requests is the development branch. The development branch will be merged to main for new releases. If you have | ||
| If you wish to report bugs, please use the [issue tracker](https://github.com/dfki-ric/deformable_gym/issues). If you would like to contribute to DeformableGym, just open an issue or a | ||
| [pull request](https://github.com/dfki-ric/deformable_gym/pulls). The target branch for | ||
| merge requests is the development branch. The development branch will be merged to main for new releases. If you have | ||
| questions about the software, you should ask them in the discussion section. | ||
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| The recommended workflow to add a new feature, add documentation, or fix a bug is the following: | ||
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| - Push your changes to a branch (e.g. feature/x, doc/y, or fix/z) of your fork of the deformable_gym repository. | ||
| - Open a pull request to the latest development branch. There is usually an open merge request from the latest development branch to the main branch. | ||
| - Open a pull request to the latest development branch. There is usually an open merge request from the latest development branch to the main branch. | ||
| - When the latest development branch is merged to the main branch, a new release will be made. | ||
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| Note that there is a checklist for new features. | ||
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| } | ||
| ``` | ||
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| ## Releases | ||
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| ### Semantic Versioning | ||
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| compatible manner, and the patch version is incremented for bugfixes, | ||
| documentation, etc. | ||
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| ## Funding | ||
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| This library has been developed initially at the | ||
| [Robotics Innovation Center](http://robotik.dfki-bremen.de/en/startpage.html) of the | ||
| [German Research Center for Artificial Intelligence (DFKI)](http://www.dfki.de) in Bremen together with the | ||
| [Robotics Group](https://robotik.dfki-bremen.de/en/about-us/university-of-bremen-robotics-group.html) of the | ||
| [Robotics Innovation Center](http://robotik.dfki-bremen.de/en/startpage.html) of the | ||
| [German Research Center for Artificial Intelligence (DFKI)](http://www.dfki.de) in Bremen together with the | ||
| [Robotics Group](https://robotik.dfki-bremen.de/en/about-us/university-of-bremen-robotics-group.html) of the | ||
| [University of Bremen](http://www.uni-bremen.de/en.html). At this phase, the work was supported through a grant from the European | ||
| Commission (870142). | ||
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| <p float="left"> | ||
| <img src="doc/source/_static/DFKI_Logo.png" height="100px" /> | ||
| <img src="doc/source/_static/Uni_Logo.png" height="100px" /> | ||
| </p> | ||
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