A customized environment is the junction of a task and a robot. You can choose to define your own task, or use one of the tasks present in the package. Similarly, you can choose to define your own robot, or use one of the robots present in the package.
Then, you have to inherit from the
RobotTaskEnv class, in the following way.
from panda_gym.envs.core import RobotTaskEnv from panda_gym.pybullet import PyBullet class MyRobotTaskEnv(RobotTaskEnv): """My robot-task environment.""" def __init__(self, render_mode): sim = PyBullet(render_mode=render_mode) robot = MyRobot(sim) task = MyTask(sim) super().__init__(robot, task)
You can now test your environment by running the following code.
env = MyRobotTaskEnv(render_mode="human") observation, info = env.reset() for _ in range(1000): action = env.action_space.sample() # random action observation, reward, terminated, truncated, info = env.step(action) if terminated or truncated: observation, info = env.reset()