this project is dedicated to creating a reinforcement learning environment (see: gz_blackbird) in order to create a policy to make the blackbird bipedal robot walk in a Gazebo enviornment using ros2_control as the middleware.
see the separate directory descriptions below:
This is the training environment developed with Gazebo Harmonic.
Written in C++, it features a python API for the gym enviornments. Please see BalanceEnv.py for a static balance environment, and BlackbirdEnv.py for the walking environment.
this is where the AI models are developed and training is run in. try train_balance.py or test_balance.py to test the model
this is the ros2 workspace dedicated for the test environment. see PosePublisher.cpp to see the topic created to publish the robot's state. Make sure gz_ros2_control is installed by running the following command:
sudo apt install ros-jazzy-gz-ros2-control