2-link servo arm
Train Dynamixel 2R arm with reinforcement learning
Two Dynamixel servos on a stand — the simplest real arm and a great first reinforcement-learning project; it learns in minutes.
- Actuators
- 2
- First skill
- 50K steps
- Size
- ≈36 cm reach
- License
- MIT
Tricks people teach Dynamixel 2R arm
How it works
- Describe the trick in a sentence and pick Dynamixel 2R arm.
- alia, kualia's assistant, writes the Gymnasium task — reward, success, failure and world objects — and runs 13 automatic checks.
- Train with PPO on kualia's servers and watch every checkpoint replayed in 3D in your browser.
- Export a deterministic ONNX policy and run it on the robot with onnxruntime.
From your coding agent
Working in Claude Code, Cursor or Codex? Connect kualia as an MCP server with a personal API key (Settings → API keys), then ask: “Train my Dynamixel 2R arm to reach a target point with kualia.”
claude mcp add --transport http kualia https://kualia.ai/api/mcp \ --header "Authorization: Bearer $KUALIA_API_KEY"Coding-agent guide →
Questions
Can I train Dynamixel 2R arm without writing code?
Yes. Pick Dynamixel 2R arm in kualia, describe the trick in a sentence, and kualia's assistant writes the Gymnasium task (reward, success, failure and any world objects), runs 13 automatic checks and trains a PPO policy in MuJoCo.
How many training steps does Dynamixel 2R arm need?
Roughly 50K steps for a first real skill with PPO. Start with a 10,000-step first try to check the task before spending more.
Can I run the trained policy on the real Dynamixel 2R arm?
kualia exports a deterministic ONNX policy with observation normalisation baked in, plus metadata describing observations and action scaling. You run it with onnxruntime on the robot's computer. Test carefully: simulation and hardware differ.
Can my coding agent use kualia for Dynamixel 2R arm?
Yes. kualia is a remote MCP server at https://kualia.ai/api/mcp. Add it to Claude Code, Cursor or Codex with a personal API key and ask the agent to train Dynamixel 2R arm.
More tiny & maker robots
Dynamixel 2R arm model by Rhoban, MIT; used unchanged except for a floor, a standing pose and actuator centring where noted. kualia is not affiliated with Rhoban.