Gymnasium-Robotics is a collection of robotics simulation environments for Reinforcement Learning

This library contains a collection of Reinforcement Learning robotic environments that use the Gymnasium API. The environments run with the MuJoCo physics engine and the maintained mujoco python bindings.

The creation and interaction with the robotic environments follow the Gymnasium interface:

import gymnasium as gym
import gymnasium_robotics

gym.register_envs(gymnasium_robotics)

env = gym.make("FetchPickAndPlace-v3", render_mode="human")
observation, info = env.reset(seed=42)
for _ in range(1000):
   action = policy(observation)  # User-defined policy function
   observation, reward, terminated, truncated, info = env.step(action)

   if terminated or truncated:
      observation, info = env.reset()
env.close()