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/qgallouedec/panda-gym.git
pip install -e panda-gym
Usage
import gym
import panda_gym
env = gym.make('PandaReach-v1', 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()
You can also
Environments
PandaReach-v1 |
PandaPush-v1 |
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 |
PandaSlide-v1 |
PandaPickAndPlace-v1 |
 |
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PandaStack-v1 |
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Baselines results
Baselines results and pre-trained agents available in rl-baselines3-zoo.
Citation
Cite as
@misc{gallouédec2021multigoal,
title={Multi-Goal Reinforcement Learning environments for simulated Franka Emika Panda robot},
author={Quentin Gallou{\'e}dec and Nicolas Cazin and Emmanuel Dellandr{\'e}a and Liming Chen},
year={2021},
eprint={2106.13687},
archivePrefix={arXiv},
primaryClass={cs.LG}
}
Environments are widely inspired from OpenAI Fetch environments.
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