The installation of the OffWorld Gym is OS agnostic and gives you access to real physical environments and their simulated replicas (via Docker).
Please run your scripts using Python versions 3.7-3.10.
The communication with a real physical OffWorld Gym environment does not require anything other than Python, but you will need Docker if you want to make use of the simulated environments:
Install Docker https://docs.docker.com/get-docker. When installing on Linux we recommend to make Docker runnable without root privileges https://docs.docker.com/engine/install/linux-postinstall.
git clone https://github.com/offworld-projects/offworld-gym.git cd offworld-gym pip3 install -ve .
Verify the installation
To test your installtion and the connectivity with the physical enviroment, do the following:
Book your time slot at https://gym.offworld.ai/book
export OFFWORLD_GYM_ACCESS_TOKEN=paste_your_token_hereusing the OffWorld Gym Access Token from https://gym.offworld.ai/account (consider adding it to your
Run the minimal example
Open https://gym.offworld.ai/cameras in your browser to see the live camera feed from the environment!
To run a simulated environment:
The terminal will print out a link that you can paste into your browser to visualize the Gazebo simulation!
Additional steps to run the examples that based on Pytorch, Tianshou and Stable-baselines 3
If you are interested in running or building upon the QR-DQN examples provided in the
examples/ directory you will need to install
pip install torch==1.10.0 tianshou==0.4.3 stable-baselines3==1.1.0
we have created an easy script that will create a virtual environment that everything you need, please see the Examples section for details.
Local Ubuntu installation without Docker (Deprecated)
If for some reason you would like to avoid using Docker for running simulated environments, you can install all the necessary components directly on your system (tested on Ubuntu 16.04).
Install ROS Kinetic by following the corresponding installation instructions.
For GPU support also install
Run the installation script scripts/install-real-and-sim.sh (tested on Ubuntu 16.04):
git clone https://github.com/offworld-projects/offworld-gym.git cd offworld-gym/scripts export OFFWORLD_GYM_ROOT=`pwd`/.. ./install-real-and-sim.sh
To test the Sim installation open two terminals, start the environment in the first one
source $OFFWORLD_GYM_ROOT/scripts/gymshell.sh roslaunch gym_offworld_monolith env_bringup.launch
and a Gazebo instance in another
source $OFFWORLD_GYM_ROOT/scripts/gymshell.sh gzclient
To test the real installation please follow the steps in the section above.