ROS Index
Repository Summary
| Description | Reinforcement learning using rlkit, UR5, Robotiq gripper on ROS(Robot Operating System) |
| Checkout URI | https://github.com/geonhee-lee/ur-reaching-reinforcement-learning.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2020-09-18 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| total_moveit_config | 0.3.0 |
| universal_robot | 1.2.1 |
| universal_robots | 1.2.1 |
| ur_bringup | 1.2.1 |
| ur_description | 1.2.1 |
| ur_driver | 1.2.1 |
| ur_gazebo | 1.2.1 |
| ur_kinematics | 1.2.1 |
| ur_modern_driver | 0.1.0 |
| ur_msgs | 1.2.1 |
| ur_reaching | 0.0.0 |
| ur_reinforcement_learning | 0.0.0 |
| ur_training | 0.0.0 |
| ur_rl_msgs | 0.0.0 |
| ur_robotiq_description | 1.2.1 |
| ur_robotiq_gazebo | 1.2.1 |
| ur_robotiq_moveit_api | 1.0.0 |
| ur_robotiq_moveit_config | 1.2.1 |
| visual_tools | 0.0.0 |
README
Object tracking video using Reinforcement learning
How to launch original env
First launch the simulator
roslaunch ur_robotiq_gazebo gym.launch
And run the training launch
roslaunch ur_training default.launch
Conveyer GAZEBO env
First launch the gazebo and gym interface and node publishing block point.
roslaunch ur_robotiq_gazebo conveyer_gym.launch --screen
Run the RL algorithms and unpause the GAZEBO
roslaunch ur_training default.launch
Latest block’s point:
rostopic echo /target_blocks_pose
Total block’s points:
rostopic echo /blocks_poses
How to launch REINFORCE algorithm
First launch the simulator
roslaunch ur_robotiq_gazebo conveyer_gym.launch controller:=vel --screen gui:=false
And load the parameters and launch python file for reset
roslaunch ur_reaching reinforcement.launch
And start the learning algorithm
python reinforcement_main.py
And unpause physics of GAZEBO simulator
rosservice call /gazebo/unpause_physics "{}"
How to launch PPO+GAE algorithm
First launch the simulator including loading the parameters and GAZEBO Excution func
roslaunch ur_robotiq_gazebo conveyer_gym.launch --screen gui:=false
And start the learning algorithm
python ppo_gae_main.py
How to use the RLkit
RLkit is reinforcement learning framework based on rllab
Run GAZEBO simulator and gazebo_execution
First launch the simulator including loading the parameters and GAZEBO Excution func
roslaunch ur_robotiq_gazebo conveyer_gym.launch --screen gui:=false
Training
And start the SAC learning algorithm based on RLkit
python rlkit_sac_main.py
And unpause physics of GAZEBO simulator
rosservice call /gazebo/unpause_physics "{}"
After training, you may find the pickled files on the rlkit/data folder.
you can easily see the results through selecting the generated folder about training like follwing:
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Description | Reinforcement learning using rlkit, UR5, Robotiq gripper on ROS(Robot Operating System) |
| Checkout URI | https://github.com/geonhee-lee/ur-reaching-reinforcement-learning.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2020-09-18 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| total_moveit_config | 0.3.0 |
| universal_robot | 1.2.1 |
| universal_robots | 1.2.1 |
| ur_bringup | 1.2.1 |
| ur_description | 1.2.1 |
| ur_driver | 1.2.1 |
| ur_gazebo | 1.2.1 |
| ur_kinematics | 1.2.1 |
| ur_modern_driver | 0.1.0 |
| ur_msgs | 1.2.1 |
| ur_reaching | 0.0.0 |
| ur_reinforcement_learning | 0.0.0 |
| ur_training | 0.0.0 |
| ur_rl_msgs | 0.0.0 |
| ur_robotiq_description | 1.2.1 |
| ur_robotiq_gazebo | 1.2.1 |
| ur_robotiq_moveit_api | 1.0.0 |
| ur_robotiq_moveit_config | 1.2.1 |
| visual_tools | 0.0.0 |
README
Object tracking video using Reinforcement learning
How to launch original env
First launch the simulator
roslaunch ur_robotiq_gazebo gym.launch
And run the training launch
roslaunch ur_training default.launch
Conveyer GAZEBO env
First launch the gazebo and gym interface and node publishing block point.
roslaunch ur_robotiq_gazebo conveyer_gym.launch --screen
Run the RL algorithms and unpause the GAZEBO
roslaunch ur_training default.launch
Latest block’s point:
rostopic echo /target_blocks_pose
Total block’s points:
rostopic echo /blocks_poses
How to launch REINFORCE algorithm
First launch the simulator
roslaunch ur_robotiq_gazebo conveyer_gym.launch controller:=vel --screen gui:=false
And load the parameters and launch python file for reset
roslaunch ur_reaching reinforcement.launch
And start the learning algorithm
python reinforcement_main.py
And unpause physics of GAZEBO simulator
rosservice call /gazebo/unpause_physics "{}"
How to launch PPO+GAE algorithm
First launch the simulator including loading the parameters and GAZEBO Excution func
roslaunch ur_robotiq_gazebo conveyer_gym.launch --screen gui:=false
And start the learning algorithm
python ppo_gae_main.py
How to use the RLkit
RLkit is reinforcement learning framework based on rllab
Run GAZEBO simulator and gazebo_execution
First launch the simulator including loading the parameters and GAZEBO Excution func
roslaunch ur_robotiq_gazebo conveyer_gym.launch --screen gui:=false
Training
And start the SAC learning algorithm based on RLkit
python rlkit_sac_main.py
And unpause physics of GAZEBO simulator
rosservice call /gazebo/unpause_physics "{}"
After training, you may find the pickled files on the rlkit/data folder.
you can easily see the results through selecting the generated folder about training like follwing:
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Description | Reinforcement learning using rlkit, UR5, Robotiq gripper on ROS(Robot Operating System) |
| Checkout URI | https://github.com/geonhee-lee/ur-reaching-reinforcement-learning.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2020-09-18 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| total_moveit_config | 0.3.0 |
| universal_robot | 1.2.1 |
| universal_robots | 1.2.1 |
| ur_bringup | 1.2.1 |
| ur_description | 1.2.1 |
| ur_driver | 1.2.1 |
| ur_gazebo | 1.2.1 |
| ur_kinematics | 1.2.1 |
| ur_modern_driver | 0.1.0 |
| ur_msgs | 1.2.1 |
| ur_reaching | 0.0.0 |
| ur_reinforcement_learning | 0.0.0 |
| ur_training | 0.0.0 |
| ur_rl_msgs | 0.0.0 |
| ur_robotiq_description | 1.2.1 |
| ur_robotiq_gazebo | 1.2.1 |
| ur_robotiq_moveit_api | 1.0.0 |
| ur_robotiq_moveit_config | 1.2.1 |
| visual_tools | 0.0.0 |
README
Object tracking video using Reinforcement learning
How to launch original env
First launch the simulator
roslaunch ur_robotiq_gazebo gym.launch
And run the training launch
roslaunch ur_training default.launch
Conveyer GAZEBO env
First launch the gazebo and gym interface and node publishing block point.
roslaunch ur_robotiq_gazebo conveyer_gym.launch --screen
Run the RL algorithms and unpause the GAZEBO
roslaunch ur_training default.launch
Latest block’s point:
rostopic echo /target_blocks_pose
Total block’s points:
rostopic echo /blocks_poses
How to launch REINFORCE algorithm
First launch the simulator
roslaunch ur_robotiq_gazebo conveyer_gym.launch controller:=vel --screen gui:=false
And load the parameters and launch python file for reset
roslaunch ur_reaching reinforcement.launch
And start the learning algorithm
python reinforcement_main.py
And unpause physics of GAZEBO simulator
rosservice call /gazebo/unpause_physics "{}"
How to launch PPO+GAE algorithm
First launch the simulator including loading the parameters and GAZEBO Excution func
roslaunch ur_robotiq_gazebo conveyer_gym.launch --screen gui:=false
And start the learning algorithm
python ppo_gae_main.py
How to use the RLkit
RLkit is reinforcement learning framework based on rllab
Run GAZEBO simulator and gazebo_execution
First launch the simulator including loading the parameters and GAZEBO Excution func
roslaunch ur_robotiq_gazebo conveyer_gym.launch --screen gui:=false
Training
And start the SAC learning algorithm based on RLkit
python rlkit_sac_main.py
And unpause physics of GAZEBO simulator
rosservice call /gazebo/unpause_physics "{}"
After training, you may find the pickled files on the rlkit/data folder.
you can easily see the results through selecting the generated folder about training like follwing:
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Description | Reinforcement learning using rlkit, UR5, Robotiq gripper on ROS(Robot Operating System) |
| Checkout URI | https://github.com/geonhee-lee/ur-reaching-reinforcement-learning.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2020-09-18 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| total_moveit_config | 0.3.0 |
| universal_robot | 1.2.1 |
| universal_robots | 1.2.1 |
| ur_bringup | 1.2.1 |
| ur_description | 1.2.1 |
| ur_driver | 1.2.1 |
| ur_gazebo | 1.2.1 |
| ur_kinematics | 1.2.1 |
| ur_modern_driver | 0.1.0 |
| ur_msgs | 1.2.1 |
| ur_reaching | 0.0.0 |
| ur_reinforcement_learning | 0.0.0 |
| ur_training | 0.0.0 |
| ur_rl_msgs | 0.0.0 |
| ur_robotiq_description | 1.2.1 |
| ur_robotiq_gazebo | 1.2.1 |
| ur_robotiq_moveit_api | 1.0.0 |
| ur_robotiq_moveit_config | 1.2.1 |
| visual_tools | 0.0.0 |
README
Object tracking video using Reinforcement learning
How to launch original env
First launch the simulator
roslaunch ur_robotiq_gazebo gym.launch
And run the training launch
roslaunch ur_training default.launch
Conveyer GAZEBO env
First launch the gazebo and gym interface and node publishing block point.
roslaunch ur_robotiq_gazebo conveyer_gym.launch --screen
Run the RL algorithms and unpause the GAZEBO
roslaunch ur_training default.launch
Latest block’s point:
rostopic echo /target_blocks_pose
Total block’s points:
rostopic echo /blocks_poses
How to launch REINFORCE algorithm
First launch the simulator
roslaunch ur_robotiq_gazebo conveyer_gym.launch controller:=vel --screen gui:=false
And load the parameters and launch python file for reset
roslaunch ur_reaching reinforcement.launch
And start the learning algorithm
python reinforcement_main.py
And unpause physics of GAZEBO simulator
rosservice call /gazebo/unpause_physics "{}"
How to launch PPO+GAE algorithm
First launch the simulator including loading the parameters and GAZEBO Excution func
roslaunch ur_robotiq_gazebo conveyer_gym.launch --screen gui:=false
And start the learning algorithm
python ppo_gae_main.py
How to use the RLkit
RLkit is reinforcement learning framework based on rllab
Run GAZEBO simulator and gazebo_execution
First launch the simulator including loading the parameters and GAZEBO Excution func
roslaunch ur_robotiq_gazebo conveyer_gym.launch --screen gui:=false
Training
And start the SAC learning algorithm based on RLkit
python rlkit_sac_main.py
And unpause physics of GAZEBO simulator
rosservice call /gazebo/unpause_physics "{}"
After training, you may find the pickled files on the rlkit/data folder.
you can easily see the results through selecting the generated folder about training like follwing:
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Description | Reinforcement learning using rlkit, UR5, Robotiq gripper on ROS(Robot Operating System) |
| Checkout URI | https://github.com/geonhee-lee/ur-reaching-reinforcement-learning.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2020-09-18 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| total_moveit_config | 0.3.0 |
| universal_robot | 1.2.1 |
| universal_robots | 1.2.1 |
| ur_bringup | 1.2.1 |
| ur_description | 1.2.1 |
| ur_driver | 1.2.1 |
| ur_gazebo | 1.2.1 |
| ur_kinematics | 1.2.1 |
| ur_modern_driver | 0.1.0 |
| ur_msgs | 1.2.1 |
| ur_reaching | 0.0.0 |
| ur_reinforcement_learning | 0.0.0 |
| ur_training | 0.0.0 |
| ur_rl_msgs | 0.0.0 |
| ur_robotiq_description | 1.2.1 |
| ur_robotiq_gazebo | 1.2.1 |
| ur_robotiq_moveit_api | 1.0.0 |
| ur_robotiq_moveit_config | 1.2.1 |
| visual_tools | 0.0.0 |
README
Object tracking video using Reinforcement learning
How to launch original env
First launch the simulator
roslaunch ur_robotiq_gazebo gym.launch
And run the training launch
roslaunch ur_training default.launch
Conveyer GAZEBO env
First launch the gazebo and gym interface and node publishing block point.
roslaunch ur_robotiq_gazebo conveyer_gym.launch --screen
Run the RL algorithms and unpause the GAZEBO
roslaunch ur_training default.launch
Latest block’s point:
rostopic echo /target_blocks_pose
Total block’s points:
rostopic echo /blocks_poses
How to launch REINFORCE algorithm
First launch the simulator
roslaunch ur_robotiq_gazebo conveyer_gym.launch controller:=vel --screen gui:=false
And load the parameters and launch python file for reset
roslaunch ur_reaching reinforcement.launch
And start the learning algorithm
python reinforcement_main.py
And unpause physics of GAZEBO simulator
rosservice call /gazebo/unpause_physics "{}"
How to launch PPO+GAE algorithm
First launch the simulator including loading the parameters and GAZEBO Excution func
roslaunch ur_robotiq_gazebo conveyer_gym.launch --screen gui:=false
And start the learning algorithm
python ppo_gae_main.py
How to use the RLkit
RLkit is reinforcement learning framework based on rllab
Run GAZEBO simulator and gazebo_execution
First launch the simulator including loading the parameters and GAZEBO Excution func
roslaunch ur_robotiq_gazebo conveyer_gym.launch --screen gui:=false
Training
And start the SAC learning algorithm based on RLkit
python rlkit_sac_main.py
And unpause physics of GAZEBO simulator
rosservice call /gazebo/unpause_physics "{}"
After training, you may find the pickled files on the rlkit/data folder.
you can easily see the results through selecting the generated folder about training like follwing:
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Description | Reinforcement learning using rlkit, UR5, Robotiq gripper on ROS(Robot Operating System) |
| Checkout URI | https://github.com/geonhee-lee/ur-reaching-reinforcement-learning.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2020-09-18 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| total_moveit_config | 0.3.0 |
| universal_robot | 1.2.1 |
| universal_robots | 1.2.1 |
| ur_bringup | 1.2.1 |
| ur_description | 1.2.1 |
| ur_driver | 1.2.1 |
| ur_gazebo | 1.2.1 |
| ur_kinematics | 1.2.1 |
| ur_modern_driver | 0.1.0 |
| ur_msgs | 1.2.1 |
| ur_reaching | 0.0.0 |
| ur_reinforcement_learning | 0.0.0 |
| ur_training | 0.0.0 |
| ur_rl_msgs | 0.0.0 |
| ur_robotiq_description | 1.2.1 |
| ur_robotiq_gazebo | 1.2.1 |
| ur_robotiq_moveit_api | 1.0.0 |
| ur_robotiq_moveit_config | 1.2.1 |
| visual_tools | 0.0.0 |
README
Object tracking video using Reinforcement learning
How to launch original env
First launch the simulator
roslaunch ur_robotiq_gazebo gym.launch
And run the training launch
roslaunch ur_training default.launch
Conveyer GAZEBO env
First launch the gazebo and gym interface and node publishing block point.
roslaunch ur_robotiq_gazebo conveyer_gym.launch --screen
Run the RL algorithms and unpause the GAZEBO
roslaunch ur_training default.launch
Latest block’s point:
rostopic echo /target_blocks_pose
Total block’s points:
rostopic echo /blocks_poses
How to launch REINFORCE algorithm
First launch the simulator
roslaunch ur_robotiq_gazebo conveyer_gym.launch controller:=vel --screen gui:=false
And load the parameters and launch python file for reset
roslaunch ur_reaching reinforcement.launch
And start the learning algorithm
python reinforcement_main.py
And unpause physics of GAZEBO simulator
rosservice call /gazebo/unpause_physics "{}"
How to launch PPO+GAE algorithm
First launch the simulator including loading the parameters and GAZEBO Excution func
roslaunch ur_robotiq_gazebo conveyer_gym.launch --screen gui:=false
And start the learning algorithm
python ppo_gae_main.py
How to use the RLkit
RLkit is reinforcement learning framework based on rllab
Run GAZEBO simulator and gazebo_execution
First launch the simulator including loading the parameters and GAZEBO Excution func
roslaunch ur_robotiq_gazebo conveyer_gym.launch --screen gui:=false
Training
And start the SAC learning algorithm based on RLkit
python rlkit_sac_main.py
And unpause physics of GAZEBO simulator
rosservice call /gazebo/unpause_physics "{}"
After training, you may find the pickled files on the rlkit/data folder.
you can easily see the results through selecting the generated folder about training like follwing:
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Description | Reinforcement learning using rlkit, UR5, Robotiq gripper on ROS(Robot Operating System) |
| Checkout URI | https://github.com/geonhee-lee/ur-reaching-reinforcement-learning.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2020-09-18 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| total_moveit_config | 0.3.0 |
| universal_robot | 1.2.1 |
| universal_robots | 1.2.1 |
| ur_bringup | 1.2.1 |
| ur_description | 1.2.1 |
| ur_driver | 1.2.1 |
| ur_gazebo | 1.2.1 |
| ur_kinematics | 1.2.1 |
| ur_modern_driver | 0.1.0 |
| ur_msgs | 1.2.1 |
| ur_reaching | 0.0.0 |
| ur_reinforcement_learning | 0.0.0 |
| ur_training | 0.0.0 |
| ur_rl_msgs | 0.0.0 |
| ur_robotiq_description | 1.2.1 |
| ur_robotiq_gazebo | 1.2.1 |
| ur_robotiq_moveit_api | 1.0.0 |
| ur_robotiq_moveit_config | 1.2.1 |
| visual_tools | 0.0.0 |
README
Object tracking video using Reinforcement learning
How to launch original env
First launch the simulator
roslaunch ur_robotiq_gazebo gym.launch
And run the training launch
roslaunch ur_training default.launch
Conveyer GAZEBO env
First launch the gazebo and gym interface and node publishing block point.
roslaunch ur_robotiq_gazebo conveyer_gym.launch --screen
Run the RL algorithms and unpause the GAZEBO
roslaunch ur_training default.launch
Latest block’s point:
rostopic echo /target_blocks_pose
Total block’s points:
rostopic echo /blocks_poses
How to launch REINFORCE algorithm
First launch the simulator
roslaunch ur_robotiq_gazebo conveyer_gym.launch controller:=vel --screen gui:=false
And load the parameters and launch python file for reset
roslaunch ur_reaching reinforcement.launch
And start the learning algorithm
python reinforcement_main.py
And unpause physics of GAZEBO simulator
rosservice call /gazebo/unpause_physics "{}"
How to launch PPO+GAE algorithm
First launch the simulator including loading the parameters and GAZEBO Excution func
roslaunch ur_robotiq_gazebo conveyer_gym.launch --screen gui:=false
And start the learning algorithm
python ppo_gae_main.py
How to use the RLkit
RLkit is reinforcement learning framework based on rllab
Run GAZEBO simulator and gazebo_execution
First launch the simulator including loading the parameters and GAZEBO Excution func
roslaunch ur_robotiq_gazebo conveyer_gym.launch --screen gui:=false
Training
And start the SAC learning algorithm based on RLkit
python rlkit_sac_main.py
And unpause physics of GAZEBO simulator
rosservice call /gazebo/unpause_physics "{}"
After training, you may find the pickled files on the rlkit/data folder.
you can easily see the results through selecting the generated folder about training like follwing:
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Description | Reinforcement learning using rlkit, UR5, Robotiq gripper on ROS(Robot Operating System) |
| Checkout URI | https://github.com/geonhee-lee/ur-reaching-reinforcement-learning.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2020-09-18 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| total_moveit_config | 0.3.0 |
| universal_robot | 1.2.1 |
| universal_robots | 1.2.1 |
| ur_bringup | 1.2.1 |
| ur_description | 1.2.1 |
| ur_driver | 1.2.1 |
| ur_gazebo | 1.2.1 |
| ur_kinematics | 1.2.1 |
| ur_modern_driver | 0.1.0 |
| ur_msgs | 1.2.1 |
| ur_reaching | 0.0.0 |
| ur_reinforcement_learning | 0.0.0 |
| ur_training | 0.0.0 |
| ur_rl_msgs | 0.0.0 |
| ur_robotiq_description | 1.2.1 |
| ur_robotiq_gazebo | 1.2.1 |
| ur_robotiq_moveit_api | 1.0.0 |
| ur_robotiq_moveit_config | 1.2.1 |
| visual_tools | 0.0.0 |
README
Object tracking video using Reinforcement learning
How to launch original env
First launch the simulator
roslaunch ur_robotiq_gazebo gym.launch
And run the training launch
roslaunch ur_training default.launch
Conveyer GAZEBO env
First launch the gazebo and gym interface and node publishing block point.
roslaunch ur_robotiq_gazebo conveyer_gym.launch --screen
Run the RL algorithms and unpause the GAZEBO
roslaunch ur_training default.launch
Latest block’s point:
rostopic echo /target_blocks_pose
Total block’s points:
rostopic echo /blocks_poses
How to launch REINFORCE algorithm
First launch the simulator
roslaunch ur_robotiq_gazebo conveyer_gym.launch controller:=vel --screen gui:=false
And load the parameters and launch python file for reset
roslaunch ur_reaching reinforcement.launch
And start the learning algorithm
python reinforcement_main.py
And unpause physics of GAZEBO simulator
rosservice call /gazebo/unpause_physics "{}"
How to launch PPO+GAE algorithm
First launch the simulator including loading the parameters and GAZEBO Excution func
roslaunch ur_robotiq_gazebo conveyer_gym.launch --screen gui:=false
And start the learning algorithm
python ppo_gae_main.py
How to use the RLkit
RLkit is reinforcement learning framework based on rllab
Run GAZEBO simulator and gazebo_execution
First launch the simulator including loading the parameters and GAZEBO Excution func
roslaunch ur_robotiq_gazebo conveyer_gym.launch --screen gui:=false
Training
And start the SAC learning algorithm based on RLkit
python rlkit_sac_main.py
And unpause physics of GAZEBO simulator
rosservice call /gazebo/unpause_physics "{}"
After training, you may find the pickled files on the rlkit/data folder.
you can easily see the results through selecting the generated folder about training like follwing:
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Description | Reinforcement learning using rlkit, UR5, Robotiq gripper on ROS(Robot Operating System) |
| Checkout URI | https://github.com/geonhee-lee/ur-reaching-reinforcement-learning.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2020-09-18 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| total_moveit_config | 0.3.0 |
| universal_robot | 1.2.1 |
| universal_robots | 1.2.1 |
| ur_bringup | 1.2.1 |
| ur_description | 1.2.1 |
| ur_driver | 1.2.1 |
| ur_gazebo | 1.2.1 |
| ur_kinematics | 1.2.1 |
| ur_modern_driver | 0.1.0 |
| ur_msgs | 1.2.1 |
| ur_reaching | 0.0.0 |
| ur_reinforcement_learning | 0.0.0 |
| ur_training | 0.0.0 |
| ur_rl_msgs | 0.0.0 |
| ur_robotiq_description | 1.2.1 |
| ur_robotiq_gazebo | 1.2.1 |
| ur_robotiq_moveit_api | 1.0.0 |
| ur_robotiq_moveit_config | 1.2.1 |
| visual_tools | 0.0.0 |
README
Object tracking video using Reinforcement learning
How to launch original env
First launch the simulator
roslaunch ur_robotiq_gazebo gym.launch
And run the training launch
roslaunch ur_training default.launch
Conveyer GAZEBO env
First launch the gazebo and gym interface and node publishing block point.
roslaunch ur_robotiq_gazebo conveyer_gym.launch --screen
Run the RL algorithms and unpause the GAZEBO
roslaunch ur_training default.launch
Latest block’s point:
rostopic echo /target_blocks_pose
Total block’s points:
rostopic echo /blocks_poses
How to launch REINFORCE algorithm
First launch the simulator
roslaunch ur_robotiq_gazebo conveyer_gym.launch controller:=vel --screen gui:=false
And load the parameters and launch python file for reset
roslaunch ur_reaching reinforcement.launch
And start the learning algorithm
python reinforcement_main.py
And unpause physics of GAZEBO simulator
rosservice call /gazebo/unpause_physics "{}"
How to launch PPO+GAE algorithm
First launch the simulator including loading the parameters and GAZEBO Excution func
roslaunch ur_robotiq_gazebo conveyer_gym.launch --screen gui:=false
And start the learning algorithm
python ppo_gae_main.py
How to use the RLkit
RLkit is reinforcement learning framework based on rllab
Run GAZEBO simulator and gazebo_execution
First launch the simulator including loading the parameters and GAZEBO Excution func
roslaunch ur_robotiq_gazebo conveyer_gym.launch --screen gui:=false
Training
And start the SAC learning algorithm based on RLkit
python rlkit_sac_main.py
And unpause physics of GAZEBO simulator
rosservice call /gazebo/unpause_physics "{}"
After training, you may find the pickled files on the rlkit/data folder.
you can easily see the results through selecting the generated folder about training like follwing:
File truncated at 100 lines see the full file