The environment is wrapped into OpenAI Gym format. If it works properly with VRep called to run a scene, with Sawyer robot arm moving randomly, then go to next step; otherwise check the dependencies ...
self.agent_ee_tip = self.agent.get_tip() # a part of robot as the end of inverse kinematics chain for controlling self.tip_target = Dummy('Sawyer_target') # the target point of the tip (end of the ...