Box2D

Bipedal Walker

Car Racing

Lunar Lander

Warning

If you plan to use box2d with Python version >= 3.14, know that at the moment the upstream project pybox2d does not provide pre-built wheels for >= 3.13. As a workaround, the box2d extra builds box2d-py from source and additionally requires swig. Make sure you have SWIG installed on your system.

These environments all involve toy games based around physics control, using box2d based physics and PyGame-based rendering. These environments were contributed back in the early days of OpenAI Gym by Oleg Klimov, and have become popular toy benchmarks ever since. All environments are highly configurable via arguments specified in each environment’s documentation.

The unique dependencies for this set of environments can be installed via:

pip install swig
pip install gymnasium[box2d]

SWIG is necessary for building the wheel for box2d-py, the Python package that provides bindings to box2d on Python 3.14+. For Python 3.13 or below we use the pre-built wheel from pybox2d.