Typed Factory for Gym Envs #81
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added sim creation functions for sim, tquart
suman1209
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added sim creation functions for trpy and joints
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Please have a look at the two commits that I have added. The first one includes some type hint fixes, which need to be applied for the remaining functions and the second includes a small example to test out the factory functions. After all functions have been applied, please test them with the given example. Please also write some integration tests that which test the simulation gym environment. For more details see issue #83. When you are done, check formatting and linting with the corresponding |
Fixed type hints, env naming and upsis
added hw env creation functions for trpy,joints and tqwart control modes
added hw env creation functions for trpy,joints and tqwart control modes
pylint fixes
added initial integration tests
update to the integration tests
formated code for isort issue and black format
I have pushed the integration tests with some issues marked with a TODO, can you review this branch and let me know. |
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- added check bounds for pose comparisons - fixed join non zero action test by using relative joint pose - formatted typed factory tests - removed print statements and todo comments
- using relative pose with xyzrpy to ensure collision - added is_sim_converged assert - correct type for gripper
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Factory functions that produce correctly wrapped and configured typed gymnasium (hardware and simulation) environments for the FR3. Closes #83