ros_gazebo_gym.task_envs.panda.panda_push

An ROS Panda push gymnasium environment.

Panda push environment

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

Goal:

In this environment the agent has to learn to push a puck to a desired goal position. It was based on the FetchPush-v2 gymnasium environment.

Configuration

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

Module Contents

Classes

PandaPushEnv

Classed used to create a Panda push environment.

Attributes

CONFIG_FILE_PATH

ros_gazebo_gym.task_envs.panda.panda_push.CONFIG_FILE_PATH = 'config/panda_push.yaml'[source]
class ros_gazebo_gym.task_envs.panda.panda_push.PandaPushEnv(*args, **kwargs)[source]

Bases: ros_gazebo_gym.task_envs.panda.panda_pick_and_place.PandaPickAndPlaceEnv, gymnasium.utils.EzPickle

Classed used to create a Panda push environment.

Initializes a Panda Push task environment.

Parameters:

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

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