diff --git a/README.md b/README.md index f678a15..4f39b6a 100644 --- a/README.md +++ b/README.md @@ -1,17 +1,17 @@ [![Tests](https://github.com/dfki-ric/deformable_gym/actions/workflows/test.yaml/badge.svg)](https://github.com/dfki-ric/deformable_gym/actions/workflows/test.yaml) [![Code style: black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black) [![pre-commit](https://img.shields.io/badge/pre--commit-enabled-brightgreen?logo=pre-commit)](https://github.com/pre-commit/pre-commit) + # DeformableGym -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.

- -## Installation +## Installation ```bash git clone git@github.com:dfki-ric/deformable_gym.git @@ -25,19 +25,16 @@ pip install -e . ## Available environments -| 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: | - - - +| 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: | ### Known Issues @@ -72,8 +69,8 @@ import gymnasium 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. """ @@ -93,19 +90,20 @@ while num_episodes <= 10: if terminated or truncated: print(f"Episode finished with return {episode_return}!") num_episodes += 1 - + env.reset() ``` - ## Documentation + The documentation can be found in the directory doc. To build the documentation, run e.g. (on linux): ```bash cd doc make html ``` + The HTML documentation is now located at doc/build/html/index.html. You need the following packages to build the documentation: ```bash @@ -114,14 +112,15 @@ pip install numpydoc sphinx sphinx-gallery sphinx-bootstrap-theme ## Contributing -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. The recommended workflow to add a new feature, add documentation, or fix a bug is the following: + - 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. Note that there is a checklist for new features. @@ -143,8 +142,6 @@ url = {https://deformable-workshop.github.io/icra2023/}, } ``` - - ## Releases ### Semantic Versioning @@ -155,13 +152,12 @@ version will be incremented when new functionality is added in a backwards compatible manner, and the patch version is incremented for bugfixes, documentation, etc. - ## Funding 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). @@ -169,8 +165,3 @@ Commission (870142).

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