Support Materials for the UniROS Framework

This repository contains the support materials for the UniROS framework which includes the following:

• Simulation environments - Made with MultiROS
• Corresponding Real-world environments - Made with RealROS
• Stable Baselines3 Support for the ROS-based environments - Made with SB3_ROS_Support

Since the UniROS which contains the MultiROS and RealROS repositories support both OpenAI Gym and Gymnasium, the support materials are also made to be compatible with them.

For the installation and usage of the UniROS framework, please refer to the UniROS repository.

OpenAI Gym Supported Resources

All the Simulated and Real-world environments made to be compatible with the OpenAI Gym interface can be found in the reactorx200_ros_reacher repository:

Installation

cd ~/catkin_ws/src
git clone https://github.com/ncbdrck/reactorx200_ros_reacher.git

Note:

• Make sure to follow the installation instructions in the reactorx200_ros_reacher repository to install the required dependencies.

• Make sure to use git checkout the openai_gym branch in UniROS, MultiROS, RealROS, and SB3_ROS_Support repositories to use run these environments.

Gymnasium Supported Resources

All the Simulated and Real-world environments made to be compatible with the Gymnasium interface can be found in the rl_environments repository:

Installation

cd ~/catkin_ws/src
git clone https://github.com/ncbdrck/rl_environments.git
git clone https://github.com/ncbdrck/rl_training_validation.git

Note:

• Make sure to follow the installation instructions in the rl_environments repository to install the required dependencies.
• Make sure to use git checkout the gymnasium branch in UniROS, MultiROS, RealROS, and SB3_ROS_Support repositories to use run these environments.
• Currently, this repository is under development and will be updated soon.

To-Do

• Add the installation instructions for the rl_environments and rl_training_validationrepositories.
• implement more tasks environments for the Gymnasium interface.
• Add support for ROS2.