https://github.com/wwwshwww/task_on_nav_env
robo-gym environment of locomotion task using NavStack in randomized indoor simulation space
https://github.com/wwwshwww/task_on_nav_env
navigation-stack openai-gym reinforcement-learning-environments robo-gym robotics
Last synced: 27 days ago
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robo-gym environment of locomotion task using NavStack in randomized indoor simulation space
- Host: GitHub
- URL: https://github.com/wwwshwww/task_on_nav_env
- Owner: wwwshwww
- Created: 2021-02-14T02:46:04.000Z (over 5 years ago)
- Default Branch: main
- Last Pushed: 2021-08-01T14:24:36.000Z (almost 5 years ago)
- Last Synced: 2025-07-07T08:43:23.755Z (11 months ago)
- Topics: navigation-stack, openai-gym, reinforcement-learning-environments, robo-gym, robotics
- Language: Jupyter Notebook
- Homepage:
- Size: 1.99 MB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# task_on_nav_env
## Installation
### Docker
This Environment side can use from docker image below.
`moyash/robo-gym-env-jupyter:cuberoom`
Usage:
```bash
docker run --gpus all --user=root -p 8888:8888 moyash/robo-gym-env-jupyter:cuberoom jupyter lab --allow-root --LabApp.token='' --ip='0.0.0.0'
```
You can use this environment with jupyter lab by open http://localhost:8888 on your browser.
### Manually
```bash
git clone https://github.com/jr-robotics/robo-gym.git
git clone https://github.com/wwwshwww/task_on_nav_env.git
pip install -e ./robo-gym
cp -r task_on_nav_env/mir_nav robo-gym/robo_gym/envs/
cat task_on_nav_env/env_registration1 >> robo-gym/robo_gym/__init__.py
cat task_on_nav_env/env_registration2 >> robo-gym/robo_gym/envs/__init__.py
```
If using a slower machine, run below as well.
Have to change path that will be placed to paste to appropriate place of `robo_gym_sever_modules` installed.
```bash
# may be unnecessary
cp task_on_nav_env/server_modules/robot_server/* /usr/local/lib/python3.6/dist-packages/robo_gym_server_modules/robot_server/
cp task_on_nav_env/server_modules/server_manager/* /usr/local/lib/python3.6/dist-packages/robo_gym_server_modules/server_manager/
```
## Details
Write you later.
test code ↓
```python
import gym
import robo_gym
from robo_gym.wrappers.exception_handling import ExceptionHandling
import numpy as np
env_id = 'CubeRoomSearchLikeContinuously-v0'
# env_id = 'NoObstacleNavigationMir100Sim-v0'
# target_ip = '10.244.2.247'
target_ip = 'robot-server'
# initialize environment
env = gym.make(env_id, ip=target_ip, gui=True)
env = ExceptionHandling(env)
state = env.reset(new_room=True, new_agent_pose=True)
```
### Robot Server Side
https://github.com/wwwshwww/task_on_nav_robot_server