gbartyzel/gym-vrep: Open-AI Gym extension for robotics based on V-REP

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

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. Two groups of environment variants can be specified:

Static obstacles:

Environment	Description
RoomNavigation	Position is obtained from simulation engine. Collision is detected with ultrasonic sensors
RoomVisionIdealNavigation	Position is obtained from simulation engine. Collision is detected with camera sensor and ultrasonic sensors
RoomOdometryNavigation	Position is obtained from encoders ticks. Collision is detected with ultrasonic sensors
RoomGyrodometryNavigation	Position is obtained from encoders ticks and gyroscope. Collision is detected with ultrasonic sensors

Dynamic obstacles:

Environment	Description
DynamicRoomNavigation	Position is obtained from simulation engine. Collision is detected with ultrasonic sensors. Moving robots in environment as dynamic obstacles.
DynamicVisionRoomNavigation	Position is obtained from simulation engine. Collision is detected with camera sensor and ultrasonic sensors. Moving robots in environment as dynamic obstacles.

Action space are desired motor angular velocities in rad/s. They are limited to (0, 15.0)[rad/s].

Environment state space description:

Classic envs:	Vision envs:
distances from n proximity sensors	distances from n proximity sensors
polar coordinates	polar coordinates
linear and angular velocities	image from camera sensor
	linear and angular velocities

Basic requirements:

git clone https://github.com/Souphis/gym-vrep.git
cd gym-vrep
python3 setup.py install