Tiago-gym-gazebo

A TIAGo environment used for manipulation tasks learning based on ros and openai gym

Usage

Start ROS launch file and make sure necessary nodes, topics, servers are runing. We can start by runing code: roslaunch tiago_gazebo tiago_gazebo.launch robot:=titanium world:=empty public_sim:=true.
Test related env in gym
test env example

import gym
import gym_gazebo_ros
env = gym.make('Tiago-v0')
env.reset()
env.render()