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