Mujoco Gym Environment for quadupedal legged locomotion

Install Instructions

 pip install gym-quadruped
 # or install locally
 cd <gym-quadruped root dir> 
 pip install -e . 

Usage Instructions

from gym_quadruped.quadruped_env import QuadrupedEnv
robot_name = "mini_cheetah" # "aliengo", "mini_cheetah", "go2", "hyqreal", ...
scene_name = "flat" # perlin | random_boxes
state_observables_names = tuple(QuadrupedEnv.ALL_OBS) # return all available state observables
env = QuadrupedEnv(robot='mini_cheetah',
 scene=scene_name,
 base_vel_command_type="human", # "forward", "random", "forward+rotate", "human"
 state_obs_names=state_observables_names, # Desired quantities in the 'state'
 )
obs = env.reset()
env.render()
for _ in range(10000):
 action = env.action_space.sample() * 50 # Sample random action
 state, reward, is_terminated, is_truncated, info = env.step(action=action)
 if is_terminated:
 pass
 # Do some stuff
 env.render()
env.close()