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maxspahn / gym_envs_urdf

URDF environments for gym
https://maxspahn.github.io/gym_envs_urdf/
GNU General Public License v3.0
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Ft generic environment #104

Closed maxspahn closed 2 years ago

maxspahn commented 2 years ago

Adds generic parser for holonomic robots. It requires some 'ugly' changes in the extract_joint_ids because the urdf file has to be read before the center position of the robot is set if not specified by the user. Therefore, the read_limits is called before the environment reset function. But it must be called a second time to determine the correct indices of the controlled joints.

Open for suggestions on this one!

lgtm-com[bot] commented 2 years ago

This pull request introduces 1 alert when merging c6ffd1756ac72bbf67369fded81d09b83d58603c into 920b94292ace98af8e1db1f43218fb99e0679e1e - view on LGTM.com

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c-salmi commented 2 years ago

Did you add the generic_reacher to git? Running python examples/generic_holonomic.py gives image

maxspahn commented 2 years ago

Oh that's bad!!

lgtm-com[bot] commented 2 years ago

This pull request introduces 1 alert when merging 2b5594a2d9619a55d053d251ab60cc6b41739032 into 920b94292ace98af8e1db1f43218fb99e0679e1e - view on LGTM.com

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c-salmi commented 2 years ago

Where should the meshes and .urdf live? Because they are now in examples/ but for running python examples/generic_holonomic.py they need to be in the top level folder /.

Maybe we could put them in urdfenvs/generic_reacher/resources like the other envs?

maxspahn commented 2 years ago

Where should the meshes and .urdf live? Because they are now in examples/ but for running python examples/generic_holonomic.py they need to be in the top level folder /.

The whole point is the that user should be able to specify the location of the meshes. The location should be user-defined and set in the script that creates the environment.

Maybe we could put them in urdfenvs/generic_reacher/resources like the other envs?`

The mesh for the ur5 should be an example to showcase how to integrate your own robot. Therefore, such meshes should not become part of the repository. Does this make sense?

c-salmi commented 2 years ago

Yes I agree that it should be user defined. Only I was trying to test with python examples/generic_holonomic.py but I should have first cd examples. I think it makes sense for the urdf to be in examples, so all good

lgtm-com[bot] commented 2 years ago

This pull request introduces 1 alert when merging 878e70617c0a6ddd85ef6ec197aab7bc454e1578 into d82df44bc8d408292da810e4e225629c42bfb7e8 - view on LGTM.com

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lgtm-com[bot] commented 2 years ago

This pull request introduces 1 alert when merging 9634bafd482d3964275460abfa7135f9c6eb2ded into d82df44bc8d408292da810e4e225629c42bfb7e8 - view on LGTM.com

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