This is a fork of OpenAI gym that Robot Locomotion Group uses for custom environments. These environments will include:
- Gym environments wrapped around Drake
- Modifications to existing gym environments where observations are directly pixels.
- Custom environments written in pymunk.
Some of these environments will be exported to a pip package once they are mature.
Pymunk Environments:
- Carrot pushing environment.
gym.make("Carrot-v0") - Pendulum environment with pixel output.
gym.make("PendulumPixel-v0") - Planar single integrator with pixel output.
gym.make("SingleIntegrator-v0")Drake Environments: - Pusher slider.
gym.make("PusherSlider-v0")orgym.make("PusherSlider-v0, config") - Shoe.
gym.make("Shoe-v0")orgym.make("Shoe-v0", config) - Planar rope environment with gravity.
gym.make("Rope2d-v0")
This fork can be setup in the following way.
git clone [email protected]:RobotLocomotion/gym.git
cd gym
pip install -e .
To install dependencies needed for Robot Locomotion Group enviroments you can run one of the following:
pip install -e .["pymunk"]
pip install -e .["drake"]
pip install -e .["rlg"] # installs dependencies from all above groups
Note: If using a Drake environement, you will need to provide your own version of Drake.
If you are working on this repo then add the following lines:
cd gym
git remote set-url origin [email protected]:RobotLocomotion/gym.git
git remote add upstream [email protected]:openai/gym.git
git remote set-url --push upstream no_push
You can create your own environment on a local branch or your own fork, then PR to this repo once the environment is good enough.
Make sure you don't PR to openai/gym, but to RobotLocomotion/gym!
To isolate our environments from OpenAI's original environments, let's keep the group environments in gym/envs/robot_locomotion_group. You will find detailed instructions in this folder.