this project aim to use PPO control a 5 dof manipulator to draw lines in 3d space.
Introduction to the files
- the pybullet environment is built in 'env' folder.
- the 'PPO_trainer.py' is the trainnig program.
- the 'robot_5dof.py' is the control program.
- the results are put in 'result' folder.
How to use it
- run the 'PPO_trainner.py' to train the PPO agent. You also can test your agent by uncommenting the 'test()' funtion in main().
- the trained agent will be saved in 'result' folder.
- run the 'robot_5dof.py' to generate the trajectory of manipulator, saved in 'action.npy'.
- connect to the manipulator, run the 'my_serial.py', enter 'python3 my_serial.py single back' in termianl to control the manipulator move to start position.
- run 'control.py' to control the manipulator move following the trajectroy in the 'action.npy'.