alxschwrz / panda-gym

OpenaAI Gym Franka Emika Panda robot environment based on PyBullet.

panda-gym

Set of OpenAI/gym robotic environments based on PyBullet physics engine.

Documentation

Check out the documentation.

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-v2', 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-v2	PandaPush-v2
PandaSlide-v2	PandaPickAndPlace-v2
PandaStack-v2	PandaFlip-v2

Baselines results

Baselines results and pre-trained agents available in rl-baselines3-zoo.

Citation

Cite as

@article{gallouedec2021pandagym,
  title        = {{panda-gym: Open-Source Goal-Conditioned Environments for Robotic Learning}},
  author       = {Gallou{\'e}dec, Quentin and Cazin, Nicolas and Dellandr{\'e}a, Emmanuel and Chen, Liming},
  year         = 2021,
  journal      = {4th Robot Learning Workshop: Self-Supervised and Lifelong Learning at NeurIPS},
}

Environments are widely inspired from OpenAI Fetch environments.