Welcome to gym-agx's documentation!

This is a Python library for deformable object manipulation research. This libraly depends on AGX Dynamics, a real-time physics simulation engine. Currently, the package is focused on deformable linear object manipulation tasks e.g. ropes and cables. It includes both implicit and explicit shape control environments.

Explicit Shape Control: Tasks where the goal is to achieve a desired shape of the object, without necessarily caring about object's pose.

Implicit Shape Control: Tasks where the goal is to achieve a desired configuration of the object (relative to itself or other objects), without necessarily caring about object's exact shape.

Most of the documentation is auto-generated using Sphinx. Below you can find the main modules which make up this library.

• Environments
  • Main Classes
  • Shape Control Tasks
    • Explicit Shape Control Environments
    • Implicit Shape Control Environments
• Reinforcement Learning Classes
  • End-Effector
  • Observation
  • Reward
• Simulations
  • Bend Wire
  • Bend Wire with Obstacle
  • Push Rope
  • Peg In Hole
  • Rubber Band
  • Cable Closing
• Utilities
  • AGX Utilities
  • General Utilities