Set of robotic environments based on PyBullet physics engine and gymnasium.
MIT License
Set of robotic environments based on PyBullet physics engine and gymnasium.
Check out the documentation.
pip install panda-gym
git clone https://github.com/qgallouedec/panda-gym.git
pip install -e panda-gym
import gymnasium as gym
import panda_gym
env = gym.make('PandaReach-v3', render_mode="human")
observation, info = env.reset()
for _ in range(1000):
action = env.action_space.sample() # random action
observation, reward, terminated, truncated, info = env.step(action)
if terminated or truncated:
observation, info = env.reset()
env.close()
You can also
PandaReach-v3 |
PandaPush-v3 |
PandaSlide-v3 |
PandaPickAndPlace-v3 |
PandaStack-v3 |
PandaFlip-v3 |
Baselines results are available in rl-baselines3-zoo and the pre-trained agents in the Hugging Face Hub.
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.