Creating a New Task

1. Create a Python file under roboeval/envs that will hold your task and all variations of it

2. Some basic imports:

from abc import ABC

from bigym.bigym_env import BiGymEnv
from bigym.const import PRESETS_PATH

# Any prop imports you have

3. Your base environment class will always have to inherit from BiGymEnv and ABC, ex. class MyEnv(BiGymEnv, ABC):

4. The methods that are most commonly needed to be overridden are:

   • _initialize_env(self): Set up the environment. Props can be spawned as shown in the example below, or they can be created from the preset file (see point 5).

   • _on_reset(self)

   • _success(self)

   • _fail(self)

5. (Optional) You can create a preset file if desired. This should be a YAML file under roboeval/envs/presets and can include information about the environment or robot setup. An example is:

props:
- type: BaseCabinet
    position: [1.1, 0.3, 0]
    euler: [0, 0, -90]
- type: BaseCabinet
    position: [1.1, -0.3, 0]
    euler: [0, 0, -90]
robot:
- name: Bimanual Panda
    position: [0.1, 0, 0]
- name: h1
    position: [0, 0, 0]

If you wish to use a preset, your class should include the line:

_PRESET_PATH = PRESETS_PATH / "your_preset.yaml"

To assign props declared in the preset to a variable,

self.cabinet_2 = self._preset.get_props(BaseCabinet)[1]