Franka RL

Mujoco simulation of Franka B in INB0104 for use in sim to real. Uses SERL impedence control Also taken from https://github.com/zichunxx/panda_mujoco_gym/blob/master/panda_mujoco_gym/envs/panda_env.py

Installation:

Requires: mujoco, gymnasium

clone the repository cd /gym_INB0104 pip install -e .

Running the current simulation:

python /rl_franka/gym_INB0104/test/cartesian_velocity_test.py python /rl_franka/gym_INB0104/test/joint_velocity_test.py

editing and adding to the simulation:

• The gymnasium simulation environments are found in /gym_INB0104/gym_INB0104/envs
• The mujoco xml files are in /gym_INB0104/gym_INB0104/environments/envs/xmls