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How can I setup OpenAI gym-gazebo for drone training (hectorquadrotor or Ardrone) in Ros Kinetic + Gazebo 7 in Ubuntu 16.04?

Can someone please help me setup the machine? I already have Ros Kinetic + Gazebo7 installed in Ubuntu 16.04. I have also installed OpenAi, hectorquadrotor and Ardrone-simulator packages. I need to setup Gym for drone training, wondering if someone could help me on this. Thanks