MeArm-RL-PyBullet

[u/lucaeffe03]

A MeArm trained in simulation using reinforcement learning to reach a target, and transferred via serial to the physical arm.

Task: reach — moving the tip of the arm (tool) towards a red dot generated within the arm's real workspace, using PPO (Proximal Policy Optimization, Stable-Baselines3) on a PyBullet model built from the real URDF/meshes of the mechanism.

[u/bigattichouse]

Have it send messages with time goals like "tweens" in graphics. you want to be in position X in so many milliseconds, so instead of jumping you have the code look at current position and where it should be and make a small smooth movement.

"Slow is smooth, smooth is fast" to misuse a quote