/robotic_arm

Reinforcement Learning for robotic arm controller using Gazebo

Primary LanguagePythonMIT LicenseMIT

Robotic Arm

Short video with RL agent training

Youtube Video Link

Install and run (Linux Guide)

Open terminal session
Start docker running
docker pull kwh44/mara_robotic_arm
xhost +local:root
docker run -it \
    --privileged \
    --volume=/tmp/.X11-unix:/tmp/.X11-unix \
    --device=/dev/dri:/dev/dri \
    --env="DISPLAY=$DISPLAY" \
    --env QT_X11_NO_MITSHM=1 \
    kwh44/mara_robotic_arm:latest
Inside docker container
Start Gazebo simulator
ros2 launch mara_gazebo mara.launch.py --urdf mara_robot_gripper_140_camera_train > /dev/null &
Train RL agent
python3 robotic_arm/src/gym_robotic-arm.py