dart-env's Introduction

DartEnv

Openai Gym with Dart support

###About

DartEnv provides 3D multi-body simulation environments based on the openai gym environment. The physics simulation is carried out by Dart and PyDart2, which is a python binding for Dart.

###Requirements

You need to install these packages first:

Dart

PyDart2

You can choose to install Dart and PyDart2 in a quick way:

sudo apt-add-repository ppa:dartsim
sudo apt-get update
sudo apt-get install libdart6-all-dev

For python2:

sudo apt install python-pip
pip install numpy
pip install PyOpenGL PyOpenGL_accelerate
sudo apt-get install swig python-pyqt5 python-pyqt5.qtopengl
sudo pip install pydart2

For python3:

sudo apt install python3-pip
pip3 install numpy
pip3 install PyOpenGL PyOpenGL_accelerate
sudo apt-get install swig python3-pyqt5 python3-pyqt5.qtopengl
sudo pip3 install pydart2

###Install

The installation is the same as for openai gym. To install, simply do

For python2:

git clone https://github.com/VincentYu68/dart-env.git
cd dart-env
pip install -e .[dart]

For python3:

git clone https://github.com/VincentYu68/dart-env.git
cd dart-env
pip3 install -e .[dart]

Please find the detailed installation instruction of using Rllab to learn DartEnv in the wiki page.

###Example

After installation, you can run DartEnv using the same API as openai gym. One example of running the dart version of the Hopper model is shown below:

import gym
env = gym.make('DartHopper-v1')
observation = env.reset()
for i in range(100):
    observation, reward, done, envinfo = env.step(env.action_space.sample())
    env.render()

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