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+# Object tracking video using Reinforcement learning  
+
+[![Object tracking video using Reinforcement learning](http://img.youtube.com/vi/A3mYJT2g-us/0.jpg)](https://youtu.be/A3mYJT2g-us?t=0s)  
+
+# How to launch original env
+ First launch the simulator
+  
+  ``` 
+  roslaunch ur_robotiq_gazebo gym.launch
+  ```
+ 
+ And run the training launch
+  ```
+  roslaunch ur_training default.launch
+  ```
+
+## Conveyer GAZEBO env
+
+First launch the gazebo and gym interface and node publishing block point.
+ ```
+ roslaunch ur_robotiq_gazebo conveyer_gym.launch --screen
+ ```
+ 
+ Run the RL algorithms and unpause the GAZEBO
+  ```
+  roslaunch ur_training default.launch
+  ```
+ 
+
+> Latest block's point:
+``` 
+rostopic echo /target_blocks_pose
+```
+
+> Total block's points:
+``` 
+rostopic echo /blocks_poses 
+```
+
+
+# How to launch REINFORCE algorithm
+ First launch the simulator
+  
+  ``` 
+roslaunch ur_robotiq_gazebo conveyer_gym.launch controller:=vel --screen gui:=false
+  ```
+ 
+ And load the parameters and launch python file for reset
+  ```
+roslaunch ur_reaching reinforcement.launch
+  ```
+
+ And start the learning algorithm 
+  ```
+python reinforcement_main.py 
+  ```
+
+ And unpause physics of GAZEBO simulator
+ ```
+ rosservice call /gazebo/unpause_physics "{}"
+ ```
+
+
+
+# How to launch PPO+GAE algorithm
+
+First launch the simulator including loading the parameters and GAZEBO Excution func
+```
+roslaunch ur_robotiq_gazebo conveyer_gym.launch --screen gui:=false
+```
+
+ And start the learning algorithm 
+ ```
+  python ppo_gae_main.py
+ ```
+
+
+# How to use the RLkit 
+[RLkit](https://github.com/vitchyr/rlkit) is reinforcement learning framework based on [rllab](https://github.com/rll/rllab)
+
+## Run GAZEBO simulator and gazebo_execution 
+First launch the simulator including loading the parameters and GAZEBO Excution func
+```
+roslaunch ur_robotiq_gazebo conveyer_gym.launch --screen gui:=false
+```
+
+## Training
+ And start the SAC learning algorithm based on RLkit
+ ```
+  python rlkit_sac_main.py
+ ```
+
+ And unpause physics of GAZEBO simulator
+ ```
+ rosservice call /gazebo/unpause_physics "{}"
+ ```
+ 
+ After training, you may find the pickled files on the rlkit/data folder.
+ 
+ you can easily see the results through selecting the generated folder about training like follwing:
+ 
+ ```
+ python viskit/frontend.py ../rlkit/data/SAC/SAC_2019_10_14_08_27_55_0000--s-0/
+```
+
+## Evaluation
+
+If you want to evaluate the trained weight, you can run like following:
+```
+python rlkit/scripts/run_policy.py rlkit/data/SAC/SAC_2019_10_14_08_27_55_0000--s-0/params.pkl 
+```
+
+
+## Visualization
+
+- Rviz
+```
+roslaunch ur_robotiq_moveit_config  moveit_rviz.launch 
+```
+
+- rviz_visual_tools
+```
+rosrun visual_tools rviz_visual_tools_demo
+```
+
+![Visualization](../images/rviz_visual_tools.png)
+
+- moveit_visual_tools
+```
+rosrun visual_tools moveit_visual_tools_demo
+```
+
+
+
+
+## Services
+
+- _/gazebo/unpause_physics_ ([Empty](http://docs.ros.org/melodic/api/std_srvs/html/srv/Empty.html))
+  - Unpause GAZEBO simulator for starting
+  ```
+  rosservice call /gazebo/unpause_physics "{}"
+  ```
+- _/set_velocity_controller_ ([SetBool](http://docs.ros.org/melodic/api/std_srvs/html/srv/SetBool.html))
+  -  Set velocity controllers including 6 velocity controllers after stoppint velocity_controller/JointTrajectoryController
+- _/set_trajectory_velocity_controller_ ([SetBool](http://docs.ros.org/melodic/api/std_srvs/html/srv/SetBool.html))
+  -  Set velocity trajectory controller including Joint trajectory controllers after stopping velocity_controller/JointVelocityController
+- _/stop_training_ ([SetBool](http://docs.ros.org/melodic/api/std_srvs/html/srv/SetBool.html))
+  -  Stop training process
+- _/start_training_ ([SetBool](http://docs.ros.org/melodic/api/std_srvs/html/srv/SetBool.html))
+  -  Start training process
+
+
+## Helpful function
+We can check the controller manager status using following:
+```
+rosrun rqt_controller_manager rqt_controller_manager
+```
+
+
+![controller manager](../images/controller_manager.png)
+
 # Universal Robot