Robot Soccer Game Environment

A robot soccer game simulation environment based on CoppeliaSim.

How to Run

I tested on the below environment.

• Ubuntu 20.04
• Python 3.8
• PyTorch 1.11.0

Installation

• CoppeliaSim

  Refer to Installation and Build part of robomaster_sim. CoppeliaSim Edu 4.4.0 is recommended.

• Python Packages

  A virtual environment venv is recommended ( Anaconda is not recommended).

  • RoboMaster: Refer to Robomaster SDK.

  • Gym:

    pip install gym[all]

  • PyTorch: >=1.11

  • (optional) stable baselines 3:

    pip install stable-baselines3[extra]

Test

CoppeliaSim

1. Start CoppeliaSim in your folder

./CoppeliaSim_Edu_V4_4_0_rev0_Ubuntu20_04/coppeliasim.sh

2. Open simulation scene 1_EP_Shot.ttt.

   

3. IP alias

sudo ifconfig lo:0 127.0.1.1/8 up
sudo ifconfig lo:1 127.0.1.2/8 up
sudo ifconfig lo:2 127.0.1.3/8 up

4. Press PLAY in CoppeliaSim.
5. Try this to test if everything in CoppeliaSim is fine.

simRobomaster.set_target_twist(0, {x=0.2, y=-0.1, theta=0.1})
simRobomaster.move_arm(0, 1, 1, true)
simRobomaster.open_gripper(int robot_handle, bool wait=true)
simRobomaster.close_gripper(int robot_handle, bool wait=true)
simRobomaster.set_gripper_target(int handle, string state, float power=0.5)

6. Run the python script simpleTest.py in CoppeliaSim folder to test if everything is fine.

GymEnv

Just run test.py in GymEnv to test.

Attached

CoppeliaSim remote API

Some commonly used functions are in CoppeliaSim Legacy remote API.pdf.

RoboMaster API

https://robomaster-dev.readthedocs.io/zh_CN/latest/index.html