Moving Cube Robot OpenAI Gym Q-Learning in ROS Gazebo

Moving cube example using open ai gym in ros gazebo.

Look communications between python scripts. And use urdf, yaml files to set model and parameters.

Model

Robot Model

Cube Robot(The Cubli)

Youtube : https://www.youtube.com/watch?v=n_6p-1J551Y

Training Example

Youtube : https://www.youtube.com/watch?v=3_afZzjAQbc

Settings

Download files

cd ~/catkin_ws/src

git clone https://github.com/subinlab/rl_moving_cube

Setting description

Ros package in catkin_ws

• moving_cube_description
• moving_cube_training_pkg
• moving_cube_learning

Files in ros package

.py .urdf .yaml .launch

Run

Run gazebo empty world

roslaunch gazebo_ros empty_world.launch

Spawn cube model in gazebo world

roslaunch moving_cube_description spawn_moving_cube.launch

Launch cube controller

roslaunch moving_cube_description moving_cube_control.launch

Q-learning traning

rosrun moving_cube_training_pkg cube_rl_utils.py

Q-learning training using open ai gym

roslaunch my_moving_cube_training_pkg start_training.launch

References

• https://bitbucket.org/theconstructcore/moving_cube/src/master/
• https://bitbucket.org/theconstructcore/moving_cube_training/src/master/
• https://bitbucket.org/theconstructcore/moving_cube_ai/src/master/