This is a catkin workspace containing the simulation environment for robot reinforcement learning.

You will need the following software installed on your machine:

• ROS Kinetic
• Gazebo 8
• RViz
• MoveIt!

First clone the catkin workspace

git clone https://github.com/yiklungpang/rl_sim.git

Once the repository is downloaded, run

cd rl_sim
catkin_make
source devel/setup.bash

This is a simple example for moving the UR5 arm and taking RGB images

You can start the process by running:

roslaunch rl_demo demo.launch

Wait 10 seconds after the environment is launched for the initial config to be loaded, then start the movement by runnning:

rosrun rl_demo simple_movement.py

The UR5 arm will move close to the blue cube and close the gripper. The RGB images from the camera will be saved in:

rl_sim/src/rl_demo/image