The gym environment for Yumi

gym-yumi

gym environment for ABB Yumi robot using VREP simulator.

Requirements

Please install the following requirements before using this environment. It is recommended to do this in a virtual environment..

VREP version 3.6.2 PyRep version compatible with VREP 3.6 gym

RL setup

Installation

git clone https://github.com/MythraV/gym_yumi.git
cd gym-yumi
pip install -e .

Example Usage

Test environment with gym

python
import gym
env = gym.make('gym_yumi:yumi-pegtransfer-v0')

Running with openai/baselines or stable_baselines

python -m baselines.run --alg=ppo2 --env=gym_yumi:yumi-pegtransfer-v0 --network=mlp --num_timesteps=2e7 --num_env=6 --save_path=/media/crl/DATA/Datasets/RLmodels/yumi --save_interval=1e5