OpenAI Gym

This is a fork of OpenAI gym that Robot Locomotion Group uses for custom environments. These environments will include:

• Gym environments wrapped around Drake
• Modifications to existing gym environments where observations are directly pixels.
• Custom environments written in pymunk.

Some of these environments will be exported to a pip package once they are mature.

List of New Environments

Pymunk Environments:

• Carrot pushing environment. gym.make("Carrot-v0")
• Pendulum environment with pixel output. gym.make("PendulumPixel-v0")
• Planar single integrator with pixel output. gym.make("SingleIntegrator-v0") Drake Environments:
• Pusher slider. gym.make("PusherSlider-v0") or gym.make("PusherSlider-v0, config")
• Shoe. gym.make("Shoe-v0") or gym.make("Shoe-v0", config)
• Planar rope environment with gravity. gym.make("Rope2d-v0")

Setup

This fork can be setup in the following way.

git clone git@github.com:RobotLocomotion/gym.git
cd gym
pip install -e .

To install dependencies needed for Robot Locomotion Group enviroments you can run one of the following:

pip install -e .["pymunk"]
pip install -e .["drake"]
pip install -e .["rlg"]  # installs dependencies from all above groups

Note: If using a Drake environement, you will need to provide your own version of Drake.

If you are working on this repo then add the following lines:

cd gym 
git remote set-url origin git@github.com:RobotLocomotion/gym.git
git remote add upstream git@github.com:openai/gym.git
git remote set-url --push upstream no_push

Workflow

You can create your own environment on a local branch or your own fork, then PR to this repo once the environment is good enough. Make sure you don't PR to openai/gym, but to RobotLocomotion/gym!

How to Add a New Environment

To isolate our environments from OpenAI's original environments, let's keep the group environments in gym/envs/robot_locomotion_group. You will find detailed instructions in this folder.