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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Containerfile

Check the corresponding README.md.

Build & install

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

Run tests

uv run pytest -v -s

Run test training

python3 ./test/sb3_run_train.py

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Utilities

Check out the utils README.

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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.