Gym AGX

OpenAI Gym interface for the AGX Dynamics simulation software.

ReForm

Consists of a robot learning sandbox for deformable linear objects (DLOs), e.g. ropes, cables. ReForm contains six DLO manipulation environments. We categorize two types of manipulation in the context of de deformable objects:

1. Explicit shape control - the goal is to deform an object to a specific shape
2. Implicit shape control - the goal is to move the object into a specific configuration, indirectly needing to be deformed

Explicit shape control

BendWire	BendWireObstacle	PushRope

Implicit shape control

PegInHole	CableClosing	RubberBand

Getting Started

To install the environment, just go to the folder containing the gym-agx folder and run the command:

pip install -e gym-agx

This will install the gym environment. Now, you can use your gym environment with the following:

import gym
from gym_agx import envs

env = gym.make('BendWire-v0')

Citing this work

To cite ReForm in publications:

@INPROCEEDINGS{reform,  
  author={Laezza, Rita and Gieselmann, Robert and Pokorny, Florian T. and Karayiannidis, Yiannis},  
  booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},   
  title={ReForm: A Robot Learning Sandbox for Deformable Linear Object Manipulation},   
  year={2021},  
  pages={4717-4723},  
  doi={10.1109/ICRA48506.2021.9561766}
}