ROS_Unity

Repository with robot simulation with Unity ml-agent and manipulation with ROS

ml-agent is a Unity package which enable the training of agents on Unity physics engine. Linked repo :

Braccio robot (5 ddl) trained with PPO on a reaching task using Unity Transforms

Arm robot (3 ddl) trained with PPO on a reaching task using Unity RigidBodies.

Ros# is a Unity/Ros package for communication between Unity simulation scene and ROS/Gazebo. It also enable conversion of urdf files to Unity gameObject.

Braccio robot following the movements of virtual Unity Braccio Robot. Base rotation need to be fixed.

Pose estimation of an Aruco marker

TODO :

• Fix braccio rotation
• Add sim2real transfer linked articles : https://arxiv.org/pdf/2002.11635.pdf https://arxiv.org/pdf/1709.07857.pdf https://arxiv.org/pdf/1910.07113.pdf