yumi-gym

gym env for collaborative robot yumi with pybullet

features

• collision detection for links
• custom reward function
• sliders to tune joint angles
• synthetic camera rendering

Installation

$ git clone git@github.com:0aqz0/yumi-gym.git
$ cd yumi-gym
$ pip install -e .

Usage

import gym, yumi_gym

env = gym.make('yumi-v0')
env.render()
observation = env.reset()

while True:
    env.render()
    
    action = env.action_space.sample()
    
    observation, reward, done, info = env.step(action)

References

• PyBullet Quickstart Guide

• sl-rl-motion-retargeting