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qgallouedec / panda-gym

Set of robotic environments based on PyBullet physics engine and gymnasium.
MIT License
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Feature idea: multiple Panda robot in the same environment #22

Closed meinczingerm closed 9 months ago

meinczingerm commented 2 years ago

I am currently implementing an environment similar to the cable insertion task presented in https://arxiv.org/pdf/2112.00597.pdf, but I have an issue that I can not add and control more than 1 Panda robot at the same time. I managed to resolve this issue in a hacky way, but since it is fairly simple to solve and could be useful for others I wanted to create this issue.

The problem is caused by the same body_name="panda" of all added robot: This could simply be fixed by passing an ID or something which could be added at the end of the body_name.

It would be also nice to pass a robot orientation similar to base_position, so the robots can be placed with different orientation.

qgallouedec commented 2 years ago

That sounds like an interesting enhancement.

Can you open a draft PR with your fixes, and post a code example to create an environment with two robots ? How do you handle the action space ? And the observation space ?

The task part should not be a problem because the task and the robot are independent.

meinczingerm commented 2 years ago

I created a PR: https://github.com/qgallouedec/panda-gym/pull/23

This is my first contribution so feel free to give me any feedbacks.