mj_envs is a collection of environments/tasks simulated with the MuJoCo physics engine and wrapped in the OpenAI gym API.
Half Cheetah State Space: openai/gym#1076
Adroit Env Definition: https://robotics.farama.org/envs/adroit_hand/adroit_door/
mj_envs uses git submodules to resolve dependencies. Please follow steps exactly as below to install correctly.
- Clone this repo with pre-populated submodule dependencies
$ git clone --recursive https://github.com/Liang-ZX/adroit_hand_env.git
Please check https://github.com/vikashplus/mj_envs for more details.
- Update submodules
$ cd mj_envs
$ git submodule update --remote
- Install package using
pip
$ pip install -e .
OR
Add repo to pythonpath by updating ~/.bashrc or ~/.bash_profile
export PYTHONPATH="<path/to/mj_envs>:$PYTHONPATH"
- You can visualize the environments with random controls using the below command
$ python utils/visualize_env.py --env_name hammer-v0
NOTE: If the visualization results in a GLFW error, this is because mujoco-py does not see some graphics drivers correctly. This can usually be fixed by explicitly loading the correct drivers before running the python script. See this page for details.
mj_envs contains a variety of environements, which are organized as modules. Each module is a collection of loosely related environements. Following modules are provided at the moment with plans to improve the diversity of the collection.
HMS contains a collection of environements centered around dexterous manipulation with anthroporphic 24 degrees of freedom Adroit Hand. These environments were designed for the publication: Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations, RSS2018.
| Hand-Manipulation-Suite Tasks (video) |
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The environments are defined in XML files located in mj_envs/hand_manipulation_suite/assets/DAPG_{env_name}.xml. The XML files define the robot, the objects, the camera, the lights, and the task-specific parameters. The XML files are used to generate the MuJoCo model files and the gym environment classes.