aegis_gym

The collection of Gymnasium environments for the Aegis UR5e station.

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Notes

• All poses consist of position x,y,z and orientation in quaterion form qx,qy,qz,qw, i.e.: pose=[x,y,z,qx,qy,qz,qw]
• For simplicity, the project uses Pytorch tensors instead of numpy ones.

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Build & install

poetry build
pip3 install ./dist/aegis_gym-*.whl
# Combined command:
poetry build && pip3 uninstall aegis_gym -y && pip3 install "./dist/aegis_gym-0.0.1-py3-none-any.whl[sim-genesis]"

Run tests

poetry run pytest -v -s

Run test training

python3 ./test/sb3_run_train.py

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URDF model for simulator

Uploading

1. Generate standalone URDF model with aegis_ros/aegis_descrption launch command:

ros2 launch aegis_description generate_standalone_urdf.launch.py disable_cell:=true

Which will generate the whole URDF file with 3D models in a default ~/ceai_ws/aegis_urdf directory.

2. Run the utils/upload_urdf_to_clearml.py script with the following options:

python3 utils/upload_urdf_to_clearml.py ~/ceai_ws/aegis_urdf --name AegisURDFModel --project AEGIS_GRASP --desc "Aegis simulator assets"

Warning

To update the dataset make sure to add an additional option: --parent "PREVIOUS_DATASET_ID"

3. Check the ClearML server's datasets.

Usage

In the robot's config set the urdf_model_id param to the ClearML's dataset ID.

Important

In case of failure to obtain the model, the code will try to load URDF model from ~/ceai_ws/aegid_urdf directory.

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Development notes

This project uses various tools for aiding the quality of the source code. Currently most of them are executed by the pre-commit. As a faster alternative it is suggested to use prek. Please make sure to enable its hooks:

# In case of pre-commit
pre-commit install
# In case of prek
prek install

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License

This repository is licensed under the Apache 2.0, see LICENSE for details.