ros_gazebo_gym.task_envs.panda.panda_pick_and_place

An ROS Panda pick and place gymnasium environment.

Panda pick and place environment

This environment is an extension of the PandaReachEnv task environment, sharing most features such as the action spaces. Notable distinctions are detailed below.

Observation space:

The observation space was extended with the 11 observations:

  • Object x position.

  • Object y position.

  • Object z position.

  • x distance between object and end-effector.

  • y distance between object and end-effector.

  • z distance between object and end-effector.

  • Object yaw rotation.

  • Object pitch rotation.

  • Object roll rotation.

  • Object translational velocity.

  • Object rotational velocity.

Goal:

In this environment the agent has to learn to lift a block up to reach the desired goal position. It was based on the FetchPickAndPlace-v2 gymnasium environment.

Configuration

The configuration files for this environment are found in the panda task environment config folder.

Module Contents

Classes

PandaPickAndPlaceEnv

Classed used to create a Panda pick and place environment.

Attributes

CONNECTION_TIMEOUT

TARGET_OBJECT_SPAWN_TIMEOUT

TARGET_OBJECT_POSE_PUBLISH_RATE

MOVEIT_ADD_BOX_TOPIC

CONFIG_FILE_PATH

ros_gazebo_gym.task_envs.panda.panda_pick_and_place.CONNECTION_TIMEOUT = 5[source]
ros_gazebo_gym.task_envs.panda.panda_pick_and_place.TARGET_OBJECT_SPAWN_TIMEOUT = 60[source]
ros_gazebo_gym.task_envs.panda.panda_pick_and_place.TARGET_OBJECT_POSE_PUBLISH_RATE = 60[source]
ros_gazebo_gym.task_envs.panda.panda_pick_and_place.MOVEIT_ADD_BOX_TOPIC = 'panda_moveit_planner_server/planning_scene/add_box'[source]
ros_gazebo_gym.task_envs.panda.panda_pick_and_place.CONFIG_FILE_PATH = 'config/panda_pick_and_place.yaml'[source]
class ros_gazebo_gym.task_envs.panda.panda_pick_and_place.PandaPickAndPlaceEnv(config_path=CONFIG_FILE_PATH, gazebo_world_launch_file='start_pick_and_place_world.launch', *args, **kwargs)[source]

Bases: ros_gazebo_gym.task_envs.panda.panda_reach.PandaReachEnv, gymnasium.utils.EzPickle

Classed used to create a Panda pick and place environment.

object_marker_class

The RViz marker class used for displaying the object. Can be overwritten by child environments to change the visualization of the object.

Type:

visualization_msgs.msg.Marker

object_frame_name

The name used for the object tf frame.

Type:

str

Initializes a Panda pick and place task environment.

Parameters:

  • config_path (str, optional) – Path where the environment configuration value are found. The path is resolved relative to the panda_reach class file.

  • gazebo_world_launch_file (str, optional) – Name of the launch file that loads the gazebo world. Currently only the launch files inside the panda_gazebo package are supported. Defaults to start_pick_and_place_world.launch.

  • *args – Arguments passed to the PandaReachEnv super class.

  • **kwargs – Keyword arguments that are passed to the PandaReachEnv super class.

property contains_object[source]

Checks whether the simulation contains the object.

Returns:

Whether the object was found in the simulation.

Return type:

bool

property object_position[source]

Retrieves the current object position.

property object_rot[source]

Retrieves the current object rotation.

property object_pose[source]

Retrieves the current object pose.