https://github.com/openai/rosbridge
[deprecated] Bridge from Gym to ROS robots
https://github.com/openai/rosbridge
Last synced: 4 months ago
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[deprecated] Bridge from Gym to ROS robots
- Host: GitHub
- URL: https://github.com/openai/rosbridge
- Owner: openai
- Created: 2016-06-09T02:36:33.000Z (almost 9 years ago)
- Default Branch: master
- Last Pushed: 2023-04-02T12:03:35.000Z (about 2 years ago)
- Last Synced: 2025-01-29T19:45:59.002Z (4 months ago)
- Language: Python
- Homepage:
- Size: 50.6 MB
- Stars: 74
- Watchers: 172
- Forks: 46
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
**Status:** Archive (code is provided as-is, no updates expected)
# rosbridge
**Warning: abandoned in Oct 2016, when we changed to a different system. It might be a good starting point for using a Fetch robot from Gym, but nobody at OpenAI is maintaining it**
A service implementing a bridge from Gym to ROS robots. Currently supports the [Fetch Research Robot](http://docs.fetchrobotics.com/)
- Runs as a [ROS](http://www.ros.org) node (ie, start it with `roslaunch rosbridge fetch_proxy.launch`.
- Listens on a [ZMQ](http://api.zeromq.org) socket, which an [OpenAI Gym](http://gym.openai.com) `ProxyClient` connects to.
- Converts the action space to ROS commands, and the ROS sensors to an observation space.
## Fetch Research robot Environments
* See [Docs](http://docs.fetchrobotics.com/), especially the [API](http://docs.fetchrobotics.com/api_overview.html)
### FetchRobot-v0: Action and observation space
* Action is a tuple with
- an 8x1 vector of joint torques, in range [-1 .. +1] corresponding to the following joints:
- shoulder_pan_joint
- shoulder_lift_joint
- upperarm_roll_joint
- elbow_flex_joint
- forearm_roll_joint
- wrist_flex_joint
- wrist_roll_joint
- l_gripper_finger_joint
* Observation is a tuple of
- An 8x1 vector of joint angles in range [-4 .. +4]
- An 8x1 vector of joint velocities in range [-4 .. +4]
- A 480x640 array of floats representing distance in meters
### FetchRobotRGB-v0: Action and observation space
* Action: (same as FetchRobot-v0)
* Observation is a tuple of
- An 8x1 vector of joint angles in range [-4 .. +4] representing radians
- An 8x1 vector of joint velocities in range [-4 .. +4] representing radians/sec
- A 480x640x3 array of uint8s representing RGB pixel values
### Installation on a Fetch:
See https://github.com/openai/fetch-config for installation scripts