panda-gym 0.0.4

OpenAI Gym Franka Emika Panda robot environment based on PyBullet.

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/quenting44/panda-gym.git
pip install -e panda-gym

Usage

import gym
import panda_gym

env = gym.make('PandaReach-v0', 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()

Environments

Environnement are widely inspired from OpenAI Fetch environnements.

PandaReach-v0: Panda has to move its end-effector to the desired goal position.

PandaSlide-v0: Panda has to hit a puck across a long table such that it slides and comes to rest on the desired goal.

PandaPush-v0: Panda has to move a box by pushing it until it reaches a desired goal position.

PandaPickAndPlace-v0: Panda has to pick up a box from a table using its gripper and move it to a desired goal above the table.