mahyaret / Gym Panda
Licence: mit
An OpenAI Gym Env for Panda
Stars: ✭ 29
Programming Languages
python
139335 projects - #7 most used programming language
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gym-panda
OpenaAI Gym Franka Emika Panda robot grasping environment implemented with PyBullet
Links
- GitHub: https://github.com/mahyaret/gym-panda
- PyPI: https://pypi.org/project/gym-panda/
- Documentation: https://www.etedal.net/2020/04/pybullet-panda_2.html
- Issue Tracker:https://github.com/mahyaret/gym-panda/issues
- Download: https://pypi.org/project/gym-panda/#files
Install
Install with pip
:
pip install gym-panda
Or, install from source:
git clone https://github.com/mahyaret/gym-panda.git
cd gym-panda
pip install .
Basic Usage
Running an environment:
import gym
import gym_panda
env = gym.make('panda-v0')
env.reset()
for _ in range(100):
env.render()
obs, reward, done, info = env.step(
env.action_space.sample()) # take a random action
env.close()
Running a PD control HACK!
import gym
import gym_panda
env = gym.make('panda-v0')
observation = env.reset()
done = False
error = 0.01
fingers = 1
object_position = [0.7, 0, 0.1]
k_p = 10
k_d = 1
dt = 1./240. # the default timestep in pybullet is 240 Hz
t = 0
for i_episode in range(20):
observation = env.reset()
fingers = 1
for t in range(100):
env.render()
print(observation)
dx = object_position[0]-observation[0]
dy = object_position[1]-observation[1]
target_z = object_position[2]
if abs(dx) < error and abs(dy) < error and abs(dz) < error:
fingers = 0
if (observation[3]+observation[4])<error+0.02 and fingers==0:
target_z = 0.5
dz = target_z-observation[2]
pd_x = k_p*dx + k_d*dx/dt
pd_y = k_p*dy + k_d*dy/dt
pd_z = k_p*dz + k_d*dz/dt
action = [pd_x,pd_y,pd_z,fingers]
observation, reward, done, info = env.step(action)
object_position = info['object_position']
if done:
print("Episode finished after {} timesteps".format(t+1))
break
env.close()
Development
- clone the repo:
git clone https://github.com/mahyaret/gym-panda.git
cd gym-panda
- Create/activate the virtual environment:
pipenv shell --python=python3.6
- Install development dependencies:
pipenv install --dev
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