https://github.com/utiasdsl/crisp_gym

Gym environments for manipulators based on crisp_py and ROS2: collect data and deploy policies on real ROS2 enabled manipulators.
https://github.com/utiasdsl/crisp_gym

diffusion-policy gymnasium-environment python robotics vla

Last synced: 2 months ago
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Gym environments for manipulators based on crisp_py and ROS2: collect data and deploy policies on real ROS2 enabled manipulators.

• Host: GitHub
• URL: https://github.com/utiasdsl/crisp_gym
• Owner: utiasDSL
• License: mit
• Created: 2025-06-16T15:53:39.000Z (4 months ago)
• Default Branch: main
• Last Pushed: 2025-08-10T10:05:51.000Z (2 months ago)
• Last Synced: 2025-08-10T11:35:08.680Z (2 months ago)
• Topics: diffusion-policy, gymnasium-environment, python, robotics, vla
• Language: Python
• Homepage: https://utiasdsl.github.io/crisp_controllers/
• Size: 6.61 MB
• Stars: 1
• Watchers: 0
• Forks: 0
• Open Issues: 1
• Metadata Files:
  • Readme: README.md
  • Changelog: CHANGELOG.md
  • License: LICENSE.md

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README

          
![crisp_gym](media/crisp_gym_logo.webp)

[![Ruff](https://img.shields.io/endpoint?url=https://raw.githubusercontent.com/astral-sh/ruff/main/assets/badge/v2.json)](https://github.com/astral-sh/ruff)

![MIT Badge](https://img.shields.io/badge/MIT-License-blue?style=flat)









This repository contains Gymnasium environments to train and deploy high-level learning-based policies using [CRISP_PY](https://github.com/utiasDSL/crisp_py) and the [CRISP controllers](https://github.com/utiasDSL/crisp_controllers).

Check the [docs](https://utiasdsl.github.io/crisp_controllers/getting_started/#4-using-the-gym) to get started.