Metadata-Version: 2.1
Name: urdfenvs
Version: 0.7.5
Summary: Simple simulation environment for robots, based on the urdf files.
Home-page: https://maxspahn.github.io/gym_envs_urdf/
License: GPL-3.0-or-later
Keywords: robotics,motion-planning,simulation
Author: Max Spahn
Author-email: m.spahn@tudelft.nl
Maintainer: Max Spahn
Maintainer-email: m.spahn@tudelft.nl
Requires-Python: >=3.8,<4.0
Classifier: License :: OSI Approved :: GNU General Public License v3 or later (GPLv3+)
Classifier: Programming Language :: Python :: 3
Classifier: Programming Language :: Python :: 3.8
Classifier: Programming Language :: Python :: 3.9
Classifier: Programming Language :: Python :: 3.10
Classifier: Programming Language :: Python :: 3.11
Provides-Extra: keyboard
Requires-Dist: deprecation (>=2.1.0,<3.0.0)
Requires-Dist: gym (>=0.26.0,<0.27.0)
Requires-Dist: mpscenes (>=0.3.1,<0.4.0)
Requires-Dist: numpy (>=1.19,<1.24)
Requires-Dist: pybullet (>=3.2.1,<4.0.0)
Requires-Dist: yourdfpy (>=0.0.52,<0.0.53)
Project-URL: Documentation, https://maxspahn.github.io/gym_envs_urdf/
Project-URL: Repository, https://github.com/maxspahn/gym_envs_urdf
Description-Content-Type: text/markdown

Generic URDF robots
===================

In this package, generic urdf robots and a panda gym environment are
available. The goal is to make this environment as easy as possible to
deploy. Although, we used the OpenAI-Gym framing, these environments are
not necessarly restricted to Reinforcement-Learning but rather to local
motion planning in general.


<table>
 <tr>
  <td> Point Robot </td>
  <td> Point Robot with Keyboard Input </td>
  <td> Non-Holonomic Robot </td>
 </tr>
 <tr>
  <td> <img src="/docs/source/img/pointRobot.gif" width="250" height="250"/> </td>
  <td> <img src="/docs/source/img/pointRobotKeyboardInput.gif" width="250" height="250"/> </td>  
  <td> <img src="/docs/source/img/boxerRobot.gif" width="250" height="250"/> </td>
 </tr>
</table>

<table>
 <tr>
  <td> Tiago Robot </td>
  <td> Tiago Robot with Keyboard Input </td>
 </tr>
 <tr>
  <td> <img src="/docs/source/img/tiago.gif" width="250" height="250"/> </td>
  <td> <img src="/docs/source/img/tiagoKeyboardInput.gif" width="250" height="250"/> </td>
 </tr>
</table>

<table>
 <tr>
  <td> Panda Robot </td>
  <td> Albert Robot </td>
  </tr>
 <tr>
  <td> <img src="/docs/source/img/panda.gif" width="250" height="250"/> </td>
  <td> <img src="/docs/source/img/albert.gif" width="250" height="250"/> </td>
  </tr>
</table>

Getting started
===============

This is the guide to quickle get going with urdf gym environments.

Pre-requisites
--------------

-   Python \>=3.8
-   pip3
-   git

Installation from pypi
----------------------

The package is uploaded to pypi so you can install it using

``` {.sourceCode .bash}
pip3 install urdfenvs
```

Installation from source
------------------------

You first have to download the repository

``` {.sourceCode .bash}
git clone git@github.com:maxspahn/gym_envs_urdf.git
```

Then, you can install the package using pip as:

``` {.sourceCode .bash}
pip3 install .
```

The code can be installed in editible mode using

``` {.sourceCode .bash}
pip3 install -e .
```

Note that we recommend using poetry in this case.

Optional: Installation with poetry
----------------------------------

If you want to use [poetry](https://python-poetry.org/docs/), you have
to install it first. See their webpage for instructions
[docs](https://python-poetry.org/docs/). Once poetry is installed, you
can install the virtual environment with the following commands. Note
that during the first installation `poetry update` takes up to 300 secs.

``` {.sourceCode .bash}
poetry install
```

The virtual environment is entered by

``` {.sourceCode .bash}
poetry shell
```

Inside the virtual environment you can access all the examples.

Installing dependencies
-----------------------

Dependencies should be installed through pip or poetry, see below.

Using pip, you can use

``` {.sourceCode .bash}
pip3 install '.[options]'
```

Using poetry

``` {.sourceCode .bash}
poetry install --with <options>
```

Options are `keyboard`.

Examples
--------

You find several python scripts in
[examples/](https://github.com/maxspahn/gym_envs_urdf/tree/master/examples).
You can test those examples using the following (if you use poetry, make
sure to enter the virtual environment first with `poetry shell`)

``` {.sourceCode .python}
python3 pointRobot.py
```

Replace pointRobot.py with the name of the script you want to run.

