kwh44 / robotic_arm

Reinforcement Learning for robotic arm controller using Gazebo

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