Open-AI Gym extension for robotics based on V-REP
Environments
- Mobile robot navigation - the mobile robot contains ultrasonic sensors,
IMU and two DC motors. Number of ultrasonic sensors depends on task type. The
task of this agent is to navigate from position A to position B. There are
implemented two variants presented below.
| Environment |
Description |
| RoomNavigation |
Environment with static obstacles like walls. |
| DynamicRoomNavigation |
Environment with dynamic obstacles like randomly moving mobile robots. |
The environment can be customized with four parameters:
navigation_type - Selects the type of the navigation algorithms from the
supported ones (ideal, odometry, gyrodometry). Default is ideal.enable_vision - Whether to include visual feedback to the observation space.
Default is False.goal_threshold - Defines the threshold value for reaching the goal.
Default value is set to 0.05.collision_threshold - Defines the threshold distance for the proximity
sensors, when the collision occurs. Default value is set to 0.05.
Action space are desired motor angular velocities in rad/s.
They are limited to (0, 15.0) rad/s.
Environment observation space description:
- distances from n proximity sensors
- polar coordinates
- linear and angular velocities
- (optional) image from camera sensor
Getting started
Here are provided basic requirements for the project:
- CoppeliaSim 4.1.0+
- Python 3.6+
- Ubuntu 20.04
- OpenAI gym
- PyRep
Python
To install this package run following commands:
git clone https://github.com/Souphis/gym-vrep.git
cd gym-vrep
python3 setup.py install
Basic usage
To run the environment with default configuration just add follwing code to your
project:
import gym
import gym_coppelia_sim
env = gym.make("RoomNavigation-v0") # or env = gym.make("DynamicRoomNavigation-v0")
Below is the example how to run environment in the headless mode:
import gym
import gym_coppelia_sim
env = gym.make("RoomNavigation-v0", headless_mode=True)
Changing the navigation algorithm can be done with following example:
import gym
import gym_coppelia_sim
env = gym.make("RoomNavigation-v0", navigation_algos="odometry")
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