Manipulation OpenAI Gym environments to simulate robots at the STARS lab
This repository contains a set of manipulation environments that are compatible with OpenAI Gym and simulated in pybullet. In particular, we have a set of environments with a simulated version of our lab’s mobile manipulator, the Thing, containing a UR10 mounted on a Ridgeback base, as well as a set of environments using a table-mounted Franka Emika Panda.
The package currently contains variations of the following tasks:
- Reach
- Lift
- Stack
- Pick and Place
- Sort
- Insert
- Pick and Insert
- Door Open
- Play (multitask)
Requirements
- python (3.7+)
- pybullet
- numpy
- gym
- transforms3d
- Pillow (for rendering)
- liegroups