# gym-vrep

**Repository Path**: ll_c/gym-vrep

## Basic Information

- **Project Name**: gym-vrep
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Apache-2.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2021-11-13
- **Last Updated**: 2021-11-13

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

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

### Environments

1. 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      |

Environment reward:

![equation](https://latex.codecogs.com/gif.latex?%5Clarge%20R%20%3D%20%5Cleft%5Cbegin%7BBmatrix%7D%201%20%26%20%2Cd%20%3C%20d_%7Bth%7D%5C%5C%20-1%20%26%20%2C%5Cexists%7BD%7D%3Cd_%7Bcollision%7D%5C%5C%20-0.1%20%26%20%2C%5Cexists%7BD%7D%20%3C%20d_%7Bproxth%7D%5C%5C%20V_L%5Ccdot%5Ccos%7B%5Ctheta%7D%20%26%20%2Cotherwise%20%5Cend%7Bmatrix%7D%5Cright.)

Where

![equation](https://latex.codecogs.com/gif.latex?V_L) - linear velocity of the mobile robot

![equation](https://latex.codecogs.com/gif.latex?%5Ctheta)- heading angle of the mobile robot

![equation](https://latex.codecogs.com/gif.latex?D) - vector od distances
 read from ultrasonic sensors
 
![equation](https://latex.codecogs.com/gif.latex?%5Clarge%20d) - distance
 between robot and target position
 
![equation](https://latex.codecogs.com/gif.latex?%5Clarge%20d_%7Bth%7D
) - threshold distance between robot and target position

![equation](https://latex.codecogs.com/gif.latex?%5Clarge%20d_%7Bcollision%7D
) - distance when collision occurs

![equation](https://latex.codecogs.com/gif.latex?%5Clarge%20d_%7Bproxth%7D
) - safety distance threshold

    
### Installation

#### Requirements:
Basic requirements:
* CoppeliaSim 4.0.0+
* Python 3.6+
* Ubuntu 16.04 / 18.04
* OpenAI gym
* [PyRep](https://github.com/Souphis/PyRep)

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