Project Environment

The next environment that you will get to explore and work with uses the C++ API and Gazebo, and also forms the basis to the next project.

In the project repo, you can locate the gazebo-arm.world file in /gazebo/. There are three main components to this gazebo file, which define the environment:

• The robotic arm with a gripper attached to it.
• A camera sensor, to capture images to feed into the DQN.
• A cylindrical object or prop.

Quiz - Arm joints

One of the tasks for the project, as you will discover in more detail later, is to create an RL agent for the robotic arm that will learn to manipulate its joints to reach and touch the object placed in its vicinity.