https://github.com/rickstaa/ros-gazebo-gym

Framework for integrating ROS and Gazebo with gymnasium, streamlining the development and training of RL algorithms in realistic robot simulations.
https://github.com/rickstaa/ros-gazebo-gym

framework franka-emika franka-panda gazebo gym gym-environments gymnasium openai-gym panda reinforcement-learning robotics ros simulation

Last synced: 4 months ago
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Framework for integrating ROS and Gazebo with gymnasium, streamlining the development and training of RL algorithms in realistic robot simulations.

• Host: GitHub
• URL: https://github.com/rickstaa/ros-gazebo-gym
• Owner: rickstaa
• License: mit
• Created: 2022-01-30T09:15:25.000Z (about 3 years ago)
• Default Branch: noetic
• Last Pushed: 2024-06-24T02:07:31.000Z (8 months ago)
• Last Synced: 2024-10-11T18:51:22.724Z (4 months ago)
• Topics: framework, franka-emika, franka-panda, gazebo, gym, gym-environments, gymnasium, openai-gym, panda, reinforcement-learning, robotics, ros, simulation
• Language: Python
• Homepage: https://rickstaa.dev/ros-gazebo-gym/
• Size: 22.8 MB
• Stars: 28
• Watchers: 3
• Forks: 2
• Open Issues: 11
• Metadata Files:
  • Readme: README.md
  • Changelog: CHANGELOG.md
  • Contributing: CONTRIBUTING.md
  • License: LICENSE
  • Citation: CITATION.cff

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README

        
# ROS Gazebo Gym

[![ROS Gazebo Gym](https://github.com/rickstaa/ros-gazebo-gym/actions/workflows/ros_gazebo_gym.yml/badge.svg)](https://github.com/rickstaa/ros-gazebo-gym/actions/workflows/ros_gazebo_gym.yml)

[![ROS Test](https://github.com/rickstaa/ros-gazebo-gym/actions/workflows/ros_test.yml/badge.svg?branch=noetic)](https://github.com/rickstaa/ros-gazebo-gym/actions/workflows/ros_test.yml)

[![GitHub release (latest by date)](https://img.shields.io/github/v/release/rickstaa/ros-gazebo-gym)](https://github.com/rickstaa/ros-gazebo-gym/releases)

[![Python 3](https://img.shields.io/badge/Python-3.8%20%7C%203.7%20%7C%203.6-brightgreen)](https://www.python.org/)

[![ROS version](https://img.shields.io/badge/ROS%20versions-Noetic-brightgreen)](https://wiki.ros.org)

[![Contributions](https://img.shields.io/badge/contributions-welcome-brightgreen.svg)](CONTRIBUTING.md)

[![DOI](https://zenodo.org/badge/453634930.svg)](https://zenodo.org/badge/latestdoi/453634930)

The ROS Gazebo Gym framework integrates [ROS](https://www.ros.org/) and [Gazebo](http://gazebosim.org/) with [gymnasium](https://gymnasium.farama.org/) to facilitate the development and training of RL algorithms in realistic robot simulations. It comes equipped with several ready-to-use simulation environments, allowing for a diverse range of applications and experimentation. This framework provides a streamlined way to apply simulation-trained algorithms to actual robots, thereby enhancing their real-world applicability. Our goal with ROS Gazebo Gym is to establish a robust foundation for RL research in robotics, aiding in the advancement of practical, real-world robot control."

## Installation and Usage

Please see the [docs](https://rickstaa.github.io/ros-gazebo-gym) for installation and usage instructions.

## Contributing

We use [husky](https://github.com/typicode/husky) pre-commit hooks and github actions to enforce high code quality. Please check the [CONTRIBUTING.md](https://github.com/rickstaa/ros-gazebo-gym/blob/noetic/CONTRIBUTING.md) before contributing to this repository.

> \[!NOTE]\

> We used [husky](https://github.com/typicode/husky) instead of [pre-commit](https://pre-commit.com/), which is more commonly used with Python projects. This was done because only some tools we wanted to use were possible to integrate the Please feel free to open a [PR](https://github.com/rickstaa/ros-gazebo-gym/pulls) if you want to switch to pre-commit if this is no longer the case.