Open-AI Gym extension for robotics based on V-REP

Environments

1. Mobile robot navigation:

• description: Mobile robot is a learning agent. It contains five proximity sensors, IMU and two DC motors. The task of this agent is to navigate from position A to position B.
• variants:
  • ideal - position is obtained from simulation engine
  • odometry - position is obtained from encoders ticks
  • gyrodometry - position is obtained from gyroscope and encoders ticks
• state:
  • classic env:
    • reading from 5 proximity sensors
    • polar coordinates
  • goal based env:
    • observation:
      • reading from 5 proximity sensors
      • robot cartesian position
    • achieved goal:
      • robot cartesian position
    • desired goal:
      • goal cartesian position

Installation

Requirements:

Basic requirements:

• V-REP 3.5.0
• Python 3.5+
• Ubuntu 16.04 / Arch Linux
• OpenAI gym

V-REP

cd ~
wget http://coppeliarobotics.com/files/V-REP_PRO_EDU_V3_5_0_Linux.tar.gz
tar -xzvf V-REP_PRO_EDU_V3_5_0_Linux 
sudo mv V-REP_PRO_EDU_V3_5_0_Linux /opt/V-REP
rm -rf V-REP_PRO_EDU_V3_5_0_Linux
export V_REP=/opt/V-REP

Python

git clone https://github.com/Souphis/gym-vrep.git
cd gym-vrep
pip install -e .