Extended python robot interfaces

gym_ignition/__init__.py

@@ -10,10 +10,6 @@
  sys.setdlopenflags(sys.getdlopenflags() | ctypes.RTLD_GLOBAL)
 import gympp_bindings
 
-# Import abstract classes
-from gym_ignition.base.task import Task
-from gym_ignition.base.robot import Robot
-
 # =========================
 # REGISTER THE ENVIRONMENTS
 # =========================
@@ -48,8 +44,8 @@
  id='CartPoleGymppy-Discrete-v0',
  entry_point='gym_ignition.base.gazebo_env:GazeboEnv',
  max_episode_steps=5000,
- kwargs={'task': cartpole_discrete.CartPoleDiscrete,
- 'robot': sim.cartpole.CartPoleRobot,
+ kwargs={'task_cls': cartpole_discrete.CartPoleDiscrete,
+ 'robot_cls': sim.cartpole.CartPoleRobot,
  'sdf': "CartPole/CartPole.sdf",
  'world': "DefaultEmptyWorld.world",
  'rtf': max_float,
@@ -61,8 +57,8 @@
  id='CartPoleGymppy-Continuous-v0',
  entry_point='gym_ignition.base.gazebo_env:GazeboEnv',
  max_episode_steps=5000,
- kwargs={'task': cartpole_continuous.CartPoleContinuous,
- 'robot': sim.cartpole.CartPoleRobot,
+ kwargs={'task_cls': cartpole_continuous.CartPoleContinuous,
+ 'robot_cls': sim.cartpole.CartPoleRobot,
  'sdf': "CartPole/CartPole.sdf",
  'world': "DefaultEmptyWorld.world",
  'rtf': max_float,

gym_ignition/base/gazebo_env.py

@@ -3,16 +3,19 @@
 # GNU Lesser General Public License v2.1 or any later version.
 
 import gym
-from gym_ignition import base
+from gym_ignition.base import task
 from gym_ignition.utils import logger
 from gym_ignition.utils.typing import *
+from gym_ignition.base.robot import robot_abc
 from gym_ignition import gympp_bindings as bindings
 
 
 class GazeboEnv(gym.Wrapper):
+ metadata = {'render.modes': ['human']}
+
  def __init__(self,
- task: type,
- robot : type,
+ task_cls: type,
+ robot_cls: type,
  sdf: str,
  world: str,
  rtf: float,
@@ -25,8 +28,8 @@ def __init__(self,
  # to accept user-defined parameters.
  self._kwargs = kwargs
 
- # Store the type of the class that provides gymppy.Robot interface
- self._robot_cls = robot
+ # Store the type of the class that provides RobotABC interface
+ self._robot_cls = robot_cls
 
  # SDF files
  self._sdf = sdf
@@ -38,25 +41,35 @@ def __init__(self,
  self._physics_rate = physics_rate
  self._gazebo_wrapper = None
 
+ # Initialize the simulator and the robot
+ robot = self._get_robot()
+
  # Build the environment
- env = task(kwargs)
- assert isinstance(env, base.task.Task), "'task' object must inherit from " \
- "gymppy.Task"
- assert isinstance(env, gym.Env), "'task' object must inherit from gym.Env"
+ env = task_cls(robot=robot, **kwargs)
+ assert isinstance(env, task.Task), \
+ "'task_cls' object must inherit from Task"
 
  # Wrap the environment with this class
  super().__init__(env=env)
 
  # Seed the environment
  self.seed()
 
- @property
- def unwrapped(self):
- # The task is not a complete gym.Env environment since task objects implement
- # the Task interface.
- # This wrapper implements the step method using Ignition Gazebo. For this reason,
- # the unwrapped environment is the gym.Env interface provided by this wrapper.
- return self
+ def __getattr__(self, name):
+ # We need to override this method because gym.Wrapper has a custom implementation
+ # that forwards all the asked attributes to the wrapped class.
+ # Due to this reason, regular wrappers cannot have new public methods and
+ # attributes. This is a workaround that requires specifying all the new ones in
+ # the list below.
+ #
+ # This fix is needed after https:/openai/gym/issues/1554
+
+ exposed_public_attributes = ["gazebo"]
+
+ if name in exposed_public_attributes:
+ return self.__getattribute__(name)
+ else:
+ return getattr(self.env, name)
 
  # ==========
  # PROPERTIES
@@ -123,22 +136,25 @@ def gazebo(self) -> bindings.GazeboWrapper:
  gazebo_initialized = self._gazebo_wrapper.initialize()
  assert gazebo_initialized, "Failed to initialize ignition gazebo"
 
- # ==============================
- # INITIALIZE THE ROBOT INTERFACE
- # ==============================
+ return self._gazebo_wrapper
+
+ def _get_robot(self):
+ if not self.gazebo:
+ raise Exception("Failed to instantiate the gazebo simulator")
 
  # Get the robot name
- model_names = self._gazebo_wrapper.getModelNames()
+ model_names = self.gazebo.getModelNames()
  assert len(model_names) == 1, "The environment has more than one model"
  model_name = model_names[0]
 
  # Build the robot object
- # TODO: robot_name arg is used only for the SingletonRobot implementation
- self.env.robot = self._robot_cls(robot_name=model_name, **self._kwargs)
- assert isinstance(self.env.robot, base.robot.Robot), \
- "'robot' object must inherit from gymppy.Robot"
+ # TODO: robot_name arg is used only for the FactoryRobot implementation
+ logger.debug("Creating the robot object")
+ robot = self._robot_cls(robot_name=model_name, **self._kwargs)
+ assert isinstance(robot, robot_abc.RobotABC), \
+ "'robot' object must inherit from RobotABC"
 
- return self._gazebo_wrapper
+ return robot
 
  # ===============
  # gym.Env METHODS
@@ -165,7 +181,7 @@ def step(self, action: Action) -> State:
  # Get the reward
  # TODO: use the wrapper method?
  reward = self.env._get_reward()
- assert reward, "Failed to get the reward"
+ assert reward is not None, "Failed to get the reward"
 
  # Check termination
  done = self.env._is_done()

gym_ignition/base/robot/__init__.py

@@ -0,0 +1,11 @@
+# Copyright (C) 2019 Istituto Italiano di Tecnologia (IIT). All rights reserved.
+# This software may be modified and distributed under the terms of the
+# GNU Lesser General Public License v2.1 or any later version.
+
+from . import robot_abc
+from . import robot_links
+from . import robot_joints
+from . import robot_contacts
+from . import robot_baseframe
+from .robot_joints import PID
+from .robot_features import feature_detector, RobotFeatures

gym_ignition/base/robot/robot_abc.py

@@ -0,0 +1,18 @@
+# Copyright (C) 2019 Istituto Italiano di Tecnologia (IIT). All rights reserved.
+# This software may be modified and distributed under the terms of the
+# GNU Lesser General Public License v2.1 or any later version.
+
+import abc
+
+
+class RobotABC(abc.ABC):
+ """
+ The base interface of all robot objects
+ """
+
+ def __init__(self, model_file: str = None) -> None:
+ # Optional model file associated with this object
+ self.model_file = model_file
+
+ @abc.abstractmethod
+ def valid(self) -> bool: ...