|
|
| import gymnasium as gym |
|
|
| from . import agents |
|
|
| |
| |
| |
|
|
| gym.register( |
| id="Isaac-Push-Cube-Franka-v0", |
| entry_point="isaaclab.envs:ManagerBasedRLEnv", |
| kwargs={ |
| "env_cfg_entry_point": f"{__name__}.joint_pos_env_cfg:FrankaCubePushEnvCfg", |
| "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:LiftCubePPORunnerCfg", |
| }, |
| disable_env_checker=True, |
| ) |
|
|
| gym.register( |
| id="Isaac-Push-Cube-Franka-Play-v0", |
| entry_point="isaaclab.envs:ManagerBasedRLEnv", |
| kwargs={ |
| "env_cfg_entry_point": f"{__name__}.joint_pos_env_cfg:FrankaCubePushEnvCfg_PLAY", |
| "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:LiftCubePPORunnerCfg", |
| }, |
| disable_env_checker=True, |
| ) |
|
|
|
|
