Generic URDF robots
===================
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.
Pybullet
--------
<table>
<tr>
<td> Point Robot </td>
<td> Point Robot with Keyboard Input </td>
<td> Non-Holonomic Robot </td>
</tr>
<tr>
<td> <img src="/docs/source/img/pointRobot.gif" width="250" height="250"/> </td>
<td> <img src="/docs/source/img/pointRobotKeyboardInput.gif" width="250" height="250"/> </td>
<td> <img src="/docs/source/img/boxerRobot.gif" width="250" height="250"/> </td>
</tr>
</table>
<table>
<tr>
<td> Tiago Robot </td>
<td> Tiago Robot with Keyboard Input </td>
</tr>
<tr>
<td> <img src="/docs/source/img/tiago.gif" width="250" height="250"/> </td>
<td> <img src="/docs/source/img/tiagoKeyboardInput.gif" width="250" height="250"/> </td>
</tr>
</table>
<table>
<tr>
<td> Panda Robot </td>
<td> Albert Robot </td>
</tr>
<tr>
<td> <img src="/docs/source/img/panda.gif" width="250" height="250"/> </td>
<td> <img src="/docs/source/img/albert.gif" width="250" height="250"/> </td>
</tr>
</table>
Mujoco
--------
<table>
<tr>
<td> Point Robot </td>
<td> Panda Robot </td>
</tr>
<tr>
<td> <img src="/docs/source/img/pointRobot_mujoco.gif" width="250" height="250"/> </td>
<td> <img src="/docs/source/img/panda_without_gripper.gif" width="250" height="250"/> </td>
</tr>
</table>
Getting started
===============
This is the guide to quickle get going with urdf gym environments.
Pre-requisites
--------------
- Python \>=3.8
- pip3
- git
Installation from pypi
----------------------
The package is uploaded to pypi so you can install it using
``` {.sourceCode .bash}
pip3 install urdfenvs
```
Installation from source
------------------------
You first have to download the repository
``` {.sourceCode .bash}
git clone git@github.com:maxspahn/gym_envs_urdf.git
```
Then, you can install the package using pip as:
``` {.sourceCode .bash}
pip3 install .
```
The code can be installed in editible mode using
``` {.sourceCode .bash}
pip3 install -e .
```
Note that we recommend using poetry in this case.
Optional: Installation with poetry
----------------------------------
If you want to use [poetry](https://python-poetry.org/docs/), you have
to install it first. See their webpage for instructions
[docs](https://python-poetry.org/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.
``` {.sourceCode .bash}
poetry install
```
The virtual environment is entered by
``` {.sourceCode .bash}
poetry shell
```
Inside the virtual environment you can access all the examples.
Installing dependencies
-----------------------
Dependencies should be installed through pip or poetry, see below.
Using pip, you can use
``` {.sourceCode .bash}
pip3 install '.[options]'
```
Using poetry
``` {.sourceCode .bash}
poetry install --with <options>
```
Options are `keyboard`.
Examples
--------
You find several python scripts in
[examples/](https://github.com/maxspahn/gym_envs_urdf/tree/master/examples).
You can test those examples using the following (if you use poetry, make
sure to enter the virtual environment first with `poetry shell`)
``` {.sourceCode .python}
python3 pointRobot.py
```
Replace pointRobot.py with the name of the script you want to run.
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