this is a tutorial on building a cube with a single wheel that learn to move using gym environment. this tutorial from https://www.theconstructsim.com and can be view the youtube explination: https://www.youtube.com/watch?v=3_afZzjAQbc
to run the training
roscore
open gazebo:
roslaunch gazebo_ros empty_world.launch
then spwn the cube:
roslaunch my_moving_cube_description spawn_moving_cube.launch
and now we can run the controller:
roslaunch my_moving_cube_description moving_cube_control.launch
finally we run the training launch file:
roslaunch my_moving_cube_training_pkg start_training.launch