In this package, generic urdf robots and a panda gym environment are available. The goal is to make this environment as easy as possible to deploy. Although, we used the OpenAI-Gym framing, these environments are not necessarly restricted to Reinforcement-Learning but rather to local motion planning in general.
| Point Robot | Point Robot with Keyboard Input | Non-Holonomic Robot |
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| Tiago Robot | Tiago Robot with Keyboard Input |
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| Panda Robot | Albert Robot |
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| Point Robot | Panda Robot |
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This is the guide to quickle get going with urdf gym environments.
- Python >=3.8
- pip3
- git
The package is uploaded to pypi so you can install it using
pip3 install urdfenvs
You first have to download the repository
git clone git@github.com:maxspahn/gym_envs_urdf.git
Then, you can install the package using pip as:
pip3 install .
The code can be installed in editible mode using
pip3 install -e .
Note that we recommend using poetry in this case.
If you want to use poetry, you have
to install it first. See their webpage for instructions
docs. Once poetry is installed, you
can install the virtual environment with the following commands. Note
that during the first installation poetry update takes up to 300 secs.
poetry install
The virtual environment is entered by
poetry shell
Inside the virtual environment you can access all the examples.
Dependencies should be installed through pip or poetry, see below.
Using pip, you can use
pip3 install '.[options]'
Using poetry
poetry install --with <options>
Options are keyboard.
You find several python scripts in
examples/.
You can test those examples using the following (if you use poetry, make
sure to enter the virtual environment first with poetry shell)
python3 pointRobot.py
Replace pointRobot.py with the name of the script you want to run.