Fetch Robotics Environments

These Fetch Robotics environments were originally developed by Matthias Plappert as part of the OpenAI Gym. I modified them to give researchers and practioners a few more options with the kinds of experiments they might want to perform.

Installation

Dependencies

Please visit the following links and be sure to install all of the dependencies:

• gym
• baselines
• mujoco-py

Intall gym-fetch

git clone https://github.com/jmichaux/gym-fetch.git
cd gym-fetch
pip install -e .

Environments

Reach

Push

Pick and Place

Slide

Hook

To do

This repository is stil a work in progress. Here are a few things I plan on doing in the short term.

• Add a stacking task
• Fix the termination conditions
• Make different environment versions that return different observations
• Modify wrappers to better handle dictionary observations

Acknowledgements

@matthiasplappert for developing the original Fetch robotics environments in OpenAI Gym. @k-r-allen and @tomsilver for making the Hook environment. @Feryal, @machinaut and @lilianweng for giving me advice and helping me make some very important modifactions to the Fetch environments.