Raspi Controlled modified toy robo arm

Hello, I am automating a robot arm. I wired everything up but I don’t know how to get it to move algorithmically (Yes, the motors can be programmatic controlled).

I was thinking of an DQN Agent, But I don’t know how to make an Environment for it.

I just wanted to know your opinion how I can automate this.

Sensors: – Pi Camera (Mounted at the gripper) – Ultra sonic Sensor (Mounted at the bottom of the Gripper

Thanks a lot!