OpenAI Gym Franka Emika Panda robot environment based on PyBullet.
Project description
panda-gym
OpenaAI Gym Franka Emika Panda robot environment based on PyBullet.
Installation
Using PyPI:
pip install panda-gym
From source:
git clone https://github.com/quenting44/panda-gym.git
pip install -e panda-gym
Usage
import gym
import panda_gym
env = gym.make('PandaReach-v0', render=True)
obs = env.reset()
done = False
while not done:
action = env.action_space.sample() # random action
obs, reward, done, info = env.step(action)
env.close()
Environments
Environnement are widely inspired from OpenAI Fetch environnements.
PandaReach-v0: Panda has to move its end-effector to the desired goal position.
PandaSlide-v0: Panda has to hit a puck across a long table such that it slides and comes to rest on the desired goal.
PandaPush-v0: Panda has to move a box by pushing it until it reaches a desired goal position.
PandaPickAndPlace-v0: Panda has to pick up a box from a table using its gripper and move it to a desired goal above the table.
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