Mujoco simulation of Franka B in INB0104 for use in sim to real RL training. The package contains two environments, a cartesian velocity control and joint velocity control for performing a pushing task.
Requires: mujoco, gymnasium
clone the repository cd rl_franka/gym-INB0104 pip3 install -e .
python /rl_franka/gym-INB0104/gym_INB0104/test/cartesian_reach.py
- The gymnasium simulation environments are found in /rl_franka/gym-INB0104/gym_INB0104/envs
- The mujoco xml files are in /rl_franka/gym-INB0104/gym_INB0104/envs/xmls