https://github.com/VincentYu68/SymmetryCurriculumLocomotion
Tip revision: b50478f8eca673730e3ce1a5441b1948b31a5187 authored by Wenhao Yu on 31 January 2019, 22:41:28 UTC
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Tip revision: b50478f
README.md
# DartEnv
Openai Gym with Dart support
### About
**DartEnv** provides 3D multi-body simulation environments based on the <a href="https://github.com/openai/gym">**openai gym**</a> environment. The physics simulation is carried out by <a href="http://dartsim.github.io/">Dart</a> and <a href="http://pydart2.readthedocs.io/en/latest/">PyDart2</a>, which is a python binding for Dart.
### Requirements
You need to install these packages first:
<a href="http://dartsim.github.io/">Dart</a>
<a href="http://pydart2.readthedocs.io/en/latest/">PyDart2</a>
You can choose to install <a href="http://dartsim.github.io/">Dart</a> and <a href="http://pydart2.readthedocs.io/en/latest/">PyDart2</a> 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 <a href="https://github.com/openai/gym">**openai gym**</a>. 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 <a href="https://github.com/openai/rllab">Rllab</a> to learn DartEnv in the <a href="https://github.com/VincentYu68/dart-env/wiki">wiki</a> 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()