https://github.com/huggingface/gym-xarm
A gym environment for xArm
Science Score: 23.0%
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○Scientific vocabulary similarity
Low similarity (11.3%) to scientific vocabulary
Repository
A gym environment for xArm
Basic Info
Statistics
- Stars: 72
- Watchers: 7
- Forks: 18
- Open Issues: 5
- Releases: 0
Metadata Files
README.md
gym-xarm
A gym environment for xArm
Installation
Create a virtual environment with Python 3.10 and activate it, e.g. with miniconda:
bash
conda create -y -n xarm python=3.10 && conda activate xarm
Install gym-xarm:
bash
pip install gym-xarm
Quickstart
```python
example.py
import gymnasium as gym import gym_xarm
env = gym.make("gymxarm/XarmLift-v0", rendermode="human") observation, info = env.reset()
for _ in range(1000): action = env.action_space.sample() observation, reward, terminated, truncated, info = env.step(action) image = env.render()
if terminated or truncated:
observation, info = env.reset()
env.close() ```
To use this example with render_mode="human", you should set the environment variable export MUJOCO_GL=glfw or simply run
bash
MUJOCO_GL=glfw python example.py
Description for Lift task
The goal of the agent is to lift the block above a height threshold. The agent is an xArm robot arm and the block is a cube.
Action Space
The action space is continuous and consists of four values [x, y, z, w]: - [x, y, z] represent the position of the end effector - [w] represents the gripper control
Observation Space
Observation space is dependent on the value set to obs_type:
- "state": observations contain agent and object state vectors only (no rendering)
- "pixels": observations contains rendered image only (no state vectors)
- "pixels_agent_pos": contains rendered image and agent state vector
Contribute
Instead of using pip directly, we use poetry for development purposes to easily track our dependencies.
If you don't have it already, follow the instructions to install it.
Install the project with dev dependencies:
bash
poetry install --all-extras
Follow our style
```bash
install pre-commit hooks
pre-commit install
apply style and linter checks on staged files
pre-commit ```
Acknowledgment
gym-xarm is adapted from FOWM and is based on work by Nicklas Hansen, Yanjie Ze, Rishabh Jangir, Mohit Jain, and Sambaran Ghosal as part of the following publications: * Self-Supervised Policy Adaptation During Deployment * Generalization in Reinforcement Learning by Soft Data Augmentation * Stabilizing Deep Q-Learning with ConvNets and Vision Transformers under Data Augmentation * Look Closer: Bridging Egocentric and Third-Person Views with Transformers for Robotic Manipulation * Visual Reinforcement Learning with Self-Supervised 3D Representations
Owner
- Name: Hugging Face
- Login: huggingface
- Kind: organization
- Location: NYC + Paris
- Website: https://huggingface.co/
- Twitter: huggingface
- Repositories: 355
- Profile: https://github.com/huggingface
The AI community building the future.
GitHub Events
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- Issues event: 4
- Watch event: 33
- Issue comment event: 5
- Push event: 1
- Pull request event: 2
- Fork event: 9
- Create event: 1
Last Year
- Issues event: 4
- Watch event: 32
- Issue comment event: 5
- Push event: 1
- Pull request event: 2
- Fork event: 9
- Create event: 1
Issues and Pull Requests
Last synced: 5 months ago
All Time
- Total issues: 4
- Total pull requests: 4
- Average time to close issues: 4 days
- Average time to close pull requests: about 1 hour
- Total issue authors: 3
- Total pull request authors: 3
- Average comments per issue: 0.25
- Average comments per pull request: 0.0
- Merged pull requests: 2
- Bot issues: 0
- Bot pull requests: 0
Past Year
- Issues: 3
- Pull requests: 2
- Average time to close issues: 4 days
- Average time to close pull requests: N/A
- Issue authors: 2
- Pull request authors: 2
- Average comments per issue: 0.33
- Average comments per pull request: 0.0
- Merged pull requests: 0
- Bot issues: 0
- Bot pull requests: 0
Top Authors
Issue Authors
- HaFred (2)
- chenkang455 (1)
- maxspahn (1)
Pull Request Authors
- aliberts (2)
- GoncaloMark (1)
- traversaro (1)
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Dependencies
- actions/cache/restore v3 composite
- actions/cache/save v3 composite
- actions/checkout v4 composite
- actions/setup-python v5 composite
- snok/install-poetry v1 composite
- absl-py 2.1.0
- cfgv 3.4.0
- cloudpickle 3.0.0
- colorama 0.4.6
- coverage 7.4.4
- debugpy 1.8.1
- distlib 0.3.8
- exceptiongroup 1.2.0
- farama-notifications 0.0.4
- filelock 3.13.3
- glfw 2.7.0
- gymnasium 0.29.1
- gymnasium-robotics 1.2.4
- identify 2.5.35
- imageio 2.34.0
- iniconfig 2.0.0
- jinja2 3.1.3
- markupsafe 2.1.5
- mujoco 2.3.7
- nodeenv 1.8.0
- numpy 1.26.4
- packaging 24.0
- pettingzoo 1.24.3
- pillow 10.2.0
- platformdirs 4.2.0
- pluggy 1.4.0
- pre-commit 3.7.0
- pyopengl 3.1.7
- pytest 8.1.1
- pytest-cov 5.0.0
- pyyaml 6.0.1
- setuptools 69.2.0
- tomli 2.0.1
- typing-extensions 4.10.0
- virtualenv 20.25.1
- debugpy ^1.8.1 develop
- pre-commit ^3.6.2 develop
- gymnasium ^0.29.1
- gymnasium-robotics ^1.2.4
- mujoco ^2.3.7
- python ^3.10
- pytest ^8.1.0 test
- pytest-cov ^5.0.0 test
- actions/checkout v3 composite
- actions/setup-python v4 composite