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

###Install

To facilitate installation, we have uploaded the entire project base including the original openai gym code. To install, simply do

git clone https://github.com/VincentYu68/DartEnv.git
cd DartEnv
pip install -e .

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()