# Creating Environments

One of the benefits of the modular architecture of robo-gym is that it is fairly simple to add new environments to it.

All the environments are stored under the [envs](robo_gym/envs) directory, in here we organized the different environments in different folders for each robot.

See also newer documentation in [Modular Environments](modular_environments.md) to learn about the benefits of basing environments on `RoboGymEnv` rather than directly on `gym.env`. 

All the environments are based on the `gym.env` class, you can base your environment class directly on `gym.env` or start from one of the classes already included in robo-gym and expand them.

Once you created the class for your environment it has to be added to the registration in order to make it available. Following what it has already been done for the existing environments, add the import of your classes to [robo_gym/envs/\_\_init\_\_.py](robo_gym/envs/__init__.py) and the registration of the environment to [robo_gym/\_\_init\_\_.py](robo_gym/__init__.py).

## Example

We provide a base Environment together with its Robot Server with minimum functionality as a base for you to start with the implementation of your own Robot Server.

[Robot Server Example](https://github.com/jr-robotics/robo-gym-robot-servers/tree/master/example_robot_server)

[Environment Example](../robo_gym/envs/example/example_env.py)

## Integrating new robot and sensors

Integrating new robots and sensors is possible but requires knowledge of ROS and Gazebo or alternatives.