gym-drake-lca 0.0.9

A Gym implementation of the Low Cost Arm (LCA) in the Drake simulator.

gym-drake-lca

A gym environment for Low-Cost Robot Arm in Drake.

Installation

Create a virtual environment with Python 3.10 and activate it, e.g. with miniconda:

conda create -y -n gym-drake-lca python=3.10 && conda activate gym-drake-lca

Install gym-drake-lca:

pip install gym-drake-lca

Quickstart

# example.py
import imageio
import gymnasium as gym
import numpy as np
import gym_drake_lca

env = gym.make("LiftCube-v0")
observation, info = env.reset()
frames = []

N = 100
for i in range(N):
    env.reset()
    action = env.action_space.sample()
    observation, reward, terminated, truncated, info = env.step(action)
    image = env.render()
    frames.append(image)

    if terminated or truncated:
        observation, info = env.reset()

env.close()
imageio.mimsave("example.mp4", np.stack(frames), fps=25)

Contribute

Instead of using pip directly, we use poetry for development purposes to easily track our dependencies. If you don't have it already, follow the instructions to install it.

Install the project with dev dependencies:

poetry install --all-extras

Follow our style

# install pre-commit hooks
pre-commit install

# apply style and linter checks on staged files
pre-commit

Acknowledgment

These instrutions are adapted from gym-aloha This project is adapted from gym-lowcostrobot