MAPIRlab / rlrobot

Reinforcement learning framework for robotics

RL-ROBOT

This repository provides a Reinforcement Learning framework in Python from the Machine Perception and Intelligent Robotics research group (MAPIR).

(HERE FOR UPDATED VERSION)

Requirements

• Python 3
• numpy
• matplotlib
• tkinter sudo apt-get install python-tk

V-REP settings:

(Tested on V-REP_PRO_EDU_V3_3_2 64_bits Linux)

1. Use default values of remoteApiConnections.txt

   portIndex1_port 		= 19997
   portIndex1_debug 		= false
   portIndex1_syncSimTrigger 	= true
   

2. Activate threaded rendering (recommended): system/usrset.txt -> threadedRenderingDuringSimulation = 1

Recommended simulation settings for scenes in RL-ROS (already set in the provide ones):

• Simulation step time: 50 ms (default)
• Real-Time Simulation: Enabled
• Multiplication factor: 3.00 (required CPU >= i3 3110m)

Execute V-REP (./vrep.sh on linux). File -> Open Scene -> (open any scene for RL-ROS)