Merge branch 'main' into feature/register_default_envs

dfki-ric · Jun 28, 2024 · 0297a52 · 0297a52
2 parents db2d570 + a80594e
commit 0297a52
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diff --git a/deformable_gym/envs/base_env.py b/deformable_gym/envs/base_env.py
@@ -1,3 +1,5 @@
+from __future__ import annotations
+
 import abc
 from typing import Any
 
@@ -7,7 +9,6 @@
 import pybullet as pb
 import pytransform3d.rotations as pr
 from gymnasium import spaces
-from pybullet_utils import bullet_client as bc
 
 from ..envs.bullet_simulation import BulletSimulation
 from ..helpers.pybullet_helper import MultibodyPose
@@ -36,24 +37,25 @@ class BaseBulletEnv(gym.Env, abc.ABC):
     robot: BulletRobot
     observation_space: spaces.Box
     action_space: spaces.Box
+    metadata = {"render_modes": ["human"]}
 
     def __init__(
         self,
-        gui: bool = True,
         real_time: bool = False,
         horizon: int = 100,
         soft: bool = False,
         verbose: bool = False,
         time_delta: float = 0.001,
         verbose_dt: float = 10.00,
         pybullet_options: str = "",
+        render_mode: str | None = None,
     ):
 
-        self.gui = gui
         self.verbose = verbose
         self.horizon = horizon
+        self.render_mode = render_mode
 
-        mode = pb.GUI if gui else pb.DIRECT
+        mode = pb.GUI if render_mode == "human" else pb.DIRECT
 
         self.simulation = BulletSimulation(
             soft=soft,
@@ -129,7 +131,7 @@ def render(self, mode: str = "human"):
         :param mode: Render mode. Only 'human' is allowed.
         """
         if mode == "human":
-            assert self.gui
+            assert self.render_mode == "human"
         else:
             raise NotImplementedError(f"Render mode {mode} not supported")
 

diff --git a/examples/floating_mia_example.py b/examples/floating_mia_example.py
@@ -9,10 +9,9 @@
 
 This is an example of how to use the FloatingMiaGraspInsole environment. A
 random policy is then used to generate ten episodes.
-
 """
 
-env = gymnasium.make("FloatingMiaGraspInsole-v0")
+env = gymnasium.make("FloatingMiaGraspInsole-v0", render_mode="human")
 
 obs, info = env.reset()
 episode_return = 0

diff --git a/examples/floating_shadow_example.py b/examples/floating_shadow_example.py
@@ -9,10 +9,9 @@
 
 This is an example of how to use the FloatingShadowGraspInsole environment. A
 random policy is then used to generate ten episodes.
-
 """
 
-env = gymnasium.make("FloatingShadowGraspInsole-v0")
+env = gymnasium.make("FloatingShadowGraspInsole-v0", render_mode="human")
 
 
 obs, info = env.reset()

diff --git a/examples/parallel_floating_mia_example.py b/examples/parallel_floating_mia_example.py
@@ -4,8 +4,8 @@
 
 SEED = 0
 
-env = gymnasium.make("FloatingMiaGraspInsole-v0", gui=False)
-env2 = gymnasium.make("FloatingMiaGraspInsole-v0", gui=False)
+env = gymnasium.make("FloatingMiaGraspInsole-v0")
+env2 = gymnasium.make("FloatingMiaGraspInsole-v0")
 
 obs, info = env.reset(seed=SEED)
 num_steps = 0

diff --git a/examples/uniform_initialisation_example.py b/examples/uniform_initialisation_example.py
@@ -13,7 +13,9 @@
 sampler = UniformSampler(low, high, seed=0)
 
 env = gymnasium.make(
-    "FloatingMiaGraspInsole-v0", initial_state_sampler=sampler, gui=True
+    "FloatingMiaGraspInsole-v0",
+    initial_state_sampler=sampler,
+    render_mode="human",
 )
 
 obs, info = env.reset()

diff --git a/examples/ur10_shadow_grasp_example.py b/examples/ur10_shadow_grasp_example.py
@@ -14,6 +14,7 @@
 
 env = gym.make("URShadowGraspPillow-v0")
 
+
 env.reset()
 episode_return = 0
 num_episodes = 0

diff --git a/examples/ur5_mia_grasp_example.py b/examples/ur5_mia_grasp_example.py
@@ -14,6 +14,7 @@
 
 env = gym.make("URMiaGraspPillow-v0")
 
+
 env.reset()
 episode_return = 0
 num_episodes = 0

diff --git a/setup.py b/setup.py
@@ -4,18 +4,20 @@
     with open("README.md", "r") as f:
         long_description = f.read()
 
-    setup(name='deformable_gym',
-          version="0.3.3",
-          maintainer='Melvin Laux',
-          maintainer_email='[email protected]',
-          description='Gym environments for grasping deformable objects',
-          long_description=long_description,
-          long_description_content_type="text/markdown",
-          license='BSD-3-Clause',
-          packages=["deformable_gym"],
-          install_requires=[
-              "pybullet",
-              "gymnasium",
-              "numpy>=1.23.5,<2.0.0",
-              "pytransform3d"
-          ])
+    setup(
+        name="deformable_gym",
+        version="0.3.4",
+        maintainer="Melvin Laux",
+        maintainer_email="[email protected]",
+        description="Gym environments for grasping deformable objects",
+        long_description=long_description,
+        long_description_content_type="text/markdown",
+        license="BSD-3-Clause",
+        packages=["deformable_gym"],
+        install_requires=[
+            "pybullet",
+            "gymnasium",
+            "numpy>=1.23.5,<2.0.0",
+            "pytransform3d",
+        ],
+    )
diff --git a/tests/envs/test_floating_mia_grasp_env.py b/tests/envs/test_floating_mia_grasp_env.py
@@ -7,11 +7,9 @@
 @pytest.fixture
 def env():
     return FloatingMiaGraspEnv(
-        gui=False,
         verbose=False,
         horizon=10,
         object_name="insole_on_conveyor_belt/back",
-        # observable_object_pos=True,
     )
 
 
@@ -59,7 +57,6 @@ def test_episode_reproducibility(env: FloatingMiaGraspEnv):
     env = FloatingMiaGraspEnv(
         verbose=False,
         horizon=3,
-        gui=False,
         object_name="insole_on_conveyor_belt/back",
     )
 

diff --git a/tests/envs/test_floating_shadow_grasp_env.py b/tests/envs/test_floating_shadow_grasp_env.py
@@ -7,7 +7,6 @@
 @pytest.fixture
 def env():
     return FloatingShadowGraspEnv(
-        gui=False,
         verbose=False,
         horizon=10,
         object_name="insole",
@@ -60,7 +59,6 @@ def test_episode_reproducibility(env: FloatingShadowGraspEnv):
     env = FloatingShadowGraspEnv(
         verbose=False,
         horizon=3,
-        gui=False,
         object_name="insole_on_conveyor_belt/back",
     )
 

diff --git a/tests/envs/test_parallel_envs.py b/tests/envs/test_parallel_envs.py
@@ -4,8 +4,8 @@
 
 
 def test_parallel_envs():
-    env = gymnasium.make("FloatingMiaGraspInsole-v0", gui=False, horizon=10)
-    env2 = gymnasium.make("FloatingMiaGraspInsole-v0", gui=False, horizon=10)
+    env = gymnasium.make("FloatingMiaGraspInsole-v0", horizon=10)
+    env2 = gymnasium.make("FloatingMiaGraspInsole-v0", horizon=10)
 
     obs, info = env.reset(seed=SEED)
     num_steps = 0

diff --git a/tests/envs/test_ur10_shadow_grasp_env.py b/tests/envs/test_ur10_shadow_grasp_env.py
@@ -7,7 +7,6 @@
 @pytest.fixture
 def env():
     return UR10ShadowGraspEnv(
-        gui=False,
         verbose=False,
         horizon=10,
         object_name="insole",
@@ -61,7 +60,6 @@ def test_episode_reproducibility(env: UR10ShadowGraspEnv):
     env = UR10ShadowGraspEnv(
         verbose=False,
         horizon=3,
-        gui=False,
         object_name="insole_on_conveyor_belt/back",
     )
 

diff --git a/tests/envs/test_ur5_mia_grasp_env.py b/tests/envs/test_ur5_mia_grasp_env.py
@@ -7,11 +7,9 @@
 @pytest.fixture
 def env():
     return UR5MiaGraspEnv(
-        gui=False,
         verbose=False,
         horizon=10,
         object_name="insole",
-        # observable_object_pos=True,
     )
 
 
@@ -43,7 +41,6 @@ def test_episode_reproducibility(env: UR5MiaGraspEnv):
     env = UR5MiaGraspEnv(
         verbose=False,
         horizon=3,
-        gui=False,
         object_name="insole_on_conveyor_belt/back",
     )